adhoc

completed
2026-09-23T22:14:20.841692+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
high
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-5.6-sol
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
service_tier
fast
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
237.8 s
total steps
280
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Stack the bowls on the table.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Stack the bowls on the table.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThree upright bowls are spread across the table, with the left and right bowls flanking a central blue bowl. I’m moving the left arm above the left bowl while parking the right arm, using the wrist view to refine alignment before descending.
move_to
left_x0.3400left_y-0.1400left_z0.1600left_gripper1.0000right_x0.2940right_y0.0000right_z0.1800
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.0196, 0.7952, 0.6033, -0.3824, -0.0227, -0.041, 0.9996, -0.0219, 0.7929, 0.601, -0.3809, -0.017, -0.0334, 0.999] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1788 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0001 right_z=0.1787 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.999 state[joint_eff]: [-0.5128, -1.6479, 10.1265, 1.8339, -0.0122, 0.2662, -0.0611, -0.4718, -1.3333, 10.359, 1.9072, -0.1001, 0.1441, -0.1148] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.34,"left_y":-0.14,"left_z":0.16,"left_gripper":1.0,"right_x":0.294,"right_y":0.0,"right_z":0.18},"note":"Three upright bowls are spread across the table, with the left and right bowls flanking a central blue bowl. I’m moving the left arm above the left bowl while parking the right arm, using the wrist view to refine alignment before descending."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe left bowl is now centered on the left wrist camera’s jaw column, and its rim lies between the open fingertips. I’m descending vertically to grip the bowl around its outside near the lower half.
move_to
left_x0.3290left_y-0.1340left_z0.0250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6369, 1.2484, 0.7269, -0.223, -0.4999, -0.4026, 0.9996, -0.0219, 0.7986, 0.6018, -0.3927, -0.0166, -0.0341, 0.999] state[eef_state]: left_x=0.3293 left_y=-0.1338 left_z=0.14 left_yaw=-0.027 left_pitch=-0.0629 left_roll=0.0314 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1751 right_yaw=-0.0003 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.999 state[joint_eff]: [-0.3897, -4.9983, 9.4974, 1.7021, -0.3834, 0.0708, -0.0562, -0.0752, -1.6615, 7.5556, 1.746, -0.0611, -0.0317, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.329,"left_y":-0.134,"left_z":0.025,"left_gripper":1.0},"note":"The left bowl is now centered on the left wrist camera’s jaw column, and its rim lies between the open fingertips. I’m descending vertically to grip the bowl around its outside near the lower half."})
tool
executing move_to over 8 steps (0.8s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe left gripper has reached table level with the bowl centered between the jaws and no sign of a hard press. I’m closing around the bowl’s outer wall and will use the settled jaw width to verify the grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6415, 1.5593, 0.4496, 0.2836, -0.4984, -0.4156, 0.9996, -0.0216, 0.7986, 0.6003, -0.3935, -0.0166, -0.0376, 0.999] state[eef_state]: left_x=0.319 left_y=-0.1284 left_z=0.0178 left_yaw=-0.0211 left_pitch=-0.1298 left_roll=0.0676 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.002 right_pitch=-0.0198 right_roll=-0.0033 right_gripper=0.999 state[joint_eff]: [0.0615, -6.1197, 4.8342, 1.7851, -0.2173, 0.1197, -0.0562, -0.0615, -1.2239, 7.1726, 1.7021, -0.0757, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The left gripper has reached table level with the bowl centered between the jaws and no sign of a hard press. I’m closing around the bowl’s outer wall and will use the settled jaw width to verify the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe jaws closed to an empty reading, and the wrist image shows the bowl still just beyond the fingertip grasp point rather than captured. I’m reopening and lifting clear before making the standard small outward correction.
move_to
left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6415, 1.5764, 0.4343, 0.2733, -0.4957, -0.4164, 0.0087, -0.0219, 0.7986, 0.6003, -0.3935, -0.0166, -0.0418, 0.999] state[eef_state]: left_x=0.3116 left_y=-0.1234 left_z=0.0061 left_yaw=-0.019 left_pitch=-0.1656 left_roll=0.0905 left_gripper=0.0087 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0038 right_pitch=-0.0199 right_roll=-0.0068 right_gripper=0.999 state[joint_eff]: [-0.335, -6.8718, 5.9282, 1.4628, -0.1929, 0.0171, 0.696, -0.1709, -1.2239, 7.0632, 1.7118, -0.0366, 0.0073, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.12,"left_gripper":1.0},"note":"The jaws closed to an empty reading, and the wrist image shows the bowl still just beyond the fingertip grasp point rather than captured. I’m reopening and lifting clear before making the standard small outward correction."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteWith the arm raised, the bowl is centered laterally but there is clear image space between its near rim and the fingertip tips, confirming the first grasp was radially short. I’m advancing about 3.4 cm outward while staying safely above it.
move_to
left_x0.3450left_y-0.1230left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.6415, 1.2671, 0.6827, -0.2932, -0.4953, -0.4206, 0.9947, -0.0219, 0.8013, 0.5999, -0.3935, -0.0166, -0.0452, 0.9989] state[eef_state]: left_x=0.3109 left_y=-0.1229 left_z=0.1055 left_yaw=-0.0161 left_pitch=-0.1727 left_roll=0.0923 left_gripper=0.9947 right_x=0.2929 right_y=0.0001 right_z=0.1733 right_yaw=0.0057 right_pitch=-0.0229 right_roll=-0.0095 right_gripper=0.9989 state[joint_eff]: [-0.2393, -5.6274, 8.7453, 1.4335, -0.2466, -0.0024, -0.0171, -0.3487, -1.1419, 7.159, 1.7509, -0.0415, -0.0122, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.345,"left_y":-0.123,"left_z":0.12,"left_gripper":1.0},"note":"With the arm raised, the bowl is centered laterally but there is clear image space between its near rim and the fingertip tips, confirming the first grasp was radially short. I’m advancing about 3.4 cm outward while staying safely above it."})
tool
executing move_to over 3 steps (0.3s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe first outward command produced only about 1.8 cm of actual radial motion, and the bowl’s near rim is still just ahead of the jaw tips. I’m raising slightly and commanding a further modest outward move so the bowl center, not just its rim, reaches the grasp point.
move_to
left_x0.3800left_y-0.1150left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.5701, 1.356, 0.7605, -0.3252, -0.4614, -0.3893, 0.9988, -0.0216, 0.8043, 0.5999, -0.3943, -0.0166, -0.0452, 0.999] state[eef_state]: left_x=0.3292 left_y=-0.1134 left_z=0.1006 left_yaw=0.0174 left_pitch=-0.2252 left_roll=0.118 left_gripper=0.9988 right_x=0.293 right_y=0.0002 right_z=0.1723 right_yaw=0.0061 right_pitch=-0.0267 right_roll=-0.0094 right_gripper=0.999 state[joint_eff]: [-0.294, -5.5453, 9.0735, 1.7216, -0.0611, 0.1636, -0.1343, -0.1026, -1.4838, 7.0359, 1.7216, -0.0611, -0.0269, -0.0073] camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.38,"left_y":-0.115,"left_z":0.14,"left_gripper":1.0},"note":"The first outward command produced only about 1.8 cm of actual radial motion, and the bowl’s near rim is still just ahead of the jaw tips. I’m raising slightly and commanding a further modest outward move so the bowl center, not just its rim, reaches the grasp point."})
tool
executing move_to over 4 steps (0.4s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe bowl now reaches between the fingertips radially, while its center sits slightly to the right of the jaw column. I’m making a small rightward lateral correction at clearance height to center the rounded bowl before closing.
move_to
left_x0.3710left_y-0.1400left_z0.1250left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4866, 1.4746, 0.9707, -0.4099, -0.4164, -0.3511, 0.9988, -0.0219, 0.807, 0.5999, -0.3939, -0.0166, -0.0486, 0.999] state[eef_state]: left_x=0.3707 left_y=-0.1112 left_z=0.1257 left_yaw=0.0444 left_pitch=-0.241 left_roll=0.1102 left_gripper=0.9988 right_x=0.2932 right_y=0.0001 right_z=0.1717 right_yaw=0.0076 right_pitch=-0.0291 right_roll=-0.0122 right_gripper=0.999 state[joint_eff]: [0.1299, -5.9829, 8.4718, 1.2234, -0.1245, 0.2857, -0.1343, -0.1846, -1.4974, 6.9949, 1.7363, -0.0611, 0.0073, -0.0171] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.371,"left_y":-0.14,"left_z":0.125,"left_gripper":1.0},"note":"The bowl now reaches between the fingertips radially, while its center sits slightly to the right of the jaw column. I’m making a small rightward lateral correction at clearance height to center the rounded bowl before closing."})
tool
executing move_to over 3 steps (0.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe overhead view shows the gripper essentially centered over the left bowl despite the wrist camera’s oblique perspective. I’m descending straight down at this corrected radial position to put both open jaws around the bowl.
move_to
left_x0.3750left_y-0.1110left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4797, 1.4815, 1.005, -0.432, -0.4126, -0.329, 0.9988, -0.0216, 0.8101, 0.5999, -0.3927, -0.0166, -0.0486, 0.999] state[eef_state]: left_x=0.3753 left_y=-0.1114 left_z=0.1332 left_yaw=0.0353 left_pitch=-0.2394 left_roll=0.1205 left_gripper=0.9988 right_x=0.2935 right_y=0.0002 right_z=0.1711 right_yaw=0.008 right_pitch=-0.031 right_roll=-0.0121 right_gripper=0.999 state[joint_eff]: [-0.0752, -6.2291, 8.1846, 1.3797, -0.1636, 0.1685, -0.1343, -0.1026, -1.4564, 7.0085, 1.7216, -0.0757, -0.0317, -0.0171] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.111,"left_z":0.02,"left_gripper":1.0},"note":"The overhead view shows the gripper essentially centered over the left bowl despite the wrist camera’s oblique perspective. I’m descending straight down at this corrected radial position to put both open jaws around the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe attempted descent did not track at all; the readback shows the wrist had accumulated about 0.24 rad of pitch, making this pose awkward. I’m first straightening the tool and descending only partway, rather than repeating the stalled target.
move_to
left_x0.3700left_y-0.1110left_z0.0800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4797, 1.4834, 1.008, -0.4377, -0.4122, -0.3294, 0.9988, -0.0219, 0.8108, 0.5945, -0.4141, -0.0166, -0.0525, 0.9989] state[eef_state]: left_x=0.375 left_y=-0.1113 left_z=0.1328 left_yaw=0.0358 left_pitch=-0.2435 left_roll=0.1222 left_gripper=0.9988 right_x=0.2898 right_y=0.0002 right_z=0.1641 right_yaw=0.0097 right_pitch=-0.0584 right_roll=-0.0144 right_gripper=0.9989 state[joint_eff]: [-0.0615, -6.3932, 7.9932, 1.4042, -0.149, 0.105, -0.1343, -0.1026, -1.3197, 7.4462, 1.8779, -0.0513, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.37,"left_y":-0.111,"left_z":0.08,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"The attempted descent did not track at all; the readback shows the wrist had accumulated about 0.24 rad of pitch, making this pose awkward. I’m first straightening the tool and descending only partway, rather than repeating the stalled target."})
tool
executing move_to over 9 steps (0.9s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteStraightening the wrist unlocked the motion and brought the gripper down to 6.8 cm, still centered over the bowl. I’m completing the vertical descent while compensating for the small radial retraction seen in the readback.
move_to
left_x0.3750left_y-0.1110left_z0.0150left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4828, 1.4662, 0.5766, 0.1631, -0.4126, -0.3267, 0.9988, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0525, 0.999] state[eef_state]: left_x=0.3594 left_y=-0.1044 left_z=0.0681 left_yaw=0.0167 left_pitch=-0.0803 left_roll=0.0327 left_gripper=0.9988 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=0.0101 right_pitch=-0.0623 right_roll=-0.0143 right_gripper=0.999 state[joint_eff]: [-0.0752, -4.8889, 6.188, 1.8828, -0.1197, 0.105, -0.1343, -0.0205, -1.5521, 6.9812, 1.663, -0.0562, -0.0464, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.375,"left_y":-0.111,"left_z":0.015,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0},"note":"Straightening the wrist unlocked the motion and brought the gripper down to 6.8 cm, still centered over the bowl. I’m completing the vertical descent while compensating for the small radial retraction seen in the readback."})
tool
executing move_to over 4 steps (0.4s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe grasp point is now at table level with the open jaws straddling the bowl in the overhead view. I’m closing for the second grasp attempt and will verify by jaw width and a short lift.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4797, 1.7374, 0.477, 0.5312, -0.4084, -0.3225, 0.9988, -0.0219, 0.8169, 0.5945, -0.4156, -0.0166, -0.0528, 0.999] state[eef_state]: left_x=0.3614 left_y=-0.1049 left_z=0.0028 left_yaw=0.0143 left_pitch=-0.0841 left_roll=0.0349 left_gripper=0.9988 right_x=0.2899 right_y=0.0002 right_z=0.1622 right_yaw=0.0099 right_pitch=-0.0661 right_roll=-0.0145 right_gripper=0.999 state[joint_eff]: [0.7179, -6.8034, 4.5744, 0.9206, -0.0708, 0.2662, -0.1343, -0.335, -1.5932, 7.0222, 1.6728, -0.0366, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0.0},"note":"The grasp point is now at table level with the open jaws straddling the bowl in the overhead view. I’m closing for the second grasp attempt and will verify by jaw width and a short lift."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe gripper stopped at about 0.04, which is borderline for an empty close but could represent a thin bowl wall rather than an exterior-diameter grasp. I’m lifting 6 cm to determine conclusively from the overhead view whether the bowl comes with the jaws.
move_to
left_z0.1000left_yaw0.0000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4831, 1.7145, 0.4938, 0.627, -0.4129, -0.3477, 0.0396, -0.0219, 0.8181, 0.5945, -0.4179, -0.0162, -0.0528, 0.999] state[eef_state]: left_x=0.3804 left_y=-0.1155 left_z=0.0341 left_yaw=0.0267 left_pitch=0.0361 left_roll=-0.0486 left_gripper=0.0396 right_x=0.2896 right_y=0.0001 right_z=0.1614 right_yaw=0.0096 right_pitch=-0.0695 right_roll=-0.0146 right_gripper=0.999 state[joint_eff]: [0.1026, -4.6701, 3.6034, 0.9206, -0.1294, 0.1343, 0.862, -0.0479, -0.8684, 6.9949, 1.6825, -0.0317, -0.0269, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0},"note":"The gripper stopped at about 0.04, which is borderline for an empty close but could represent a thin bowl wall rather than an exterior-diameter grasp. I’m lifting 6 cm to determine conclusively from the overhead view whether the bowl comes with the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe left bowl remains visible in its own wrist camera after the lift, proving it was not captured, so I’m ending that approach after two misses. I’m parking the left arm and moving the right arm above the clearly visible right bowl for a fresh, better-aligned grasp.
move_to
left_x0.2940left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000right_x0.3400right_y0.1000right_z0.1400right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4828, 1.4948, 0.6056, 0.2687, -0.4126, -0.3363, 0.0401, -0.0219, 0.8192, 0.5945, -0.4191, -0.0166, -0.0532, 0.999] state[eef_state]: left_x=0.3797 left_y=-0.115 left_z=0.0881 left_yaw=0.0202 left_pitch=0.0128 left_roll=-0.0261 left_gripper=0.0401 right_x=0.2895 right_y=0.0002 right_z=0.1609 right_yaw=0.0101 right_pitch=-0.0718 right_roll=-0.0146 right_gripper=0.999 state[joint_eff]: [0.1709, -7.159, 8.5675, 1.7705, -0.0513, 0.2759, 1.0281, -0.1026, -1.4838, 6.9949, 1.6581, -0.0708, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.294,"left_y":0.0,"left_z":0.18,"left_yaw":0.0,"left_pitch":0.0,"left_roll":0.0,"left_gripper":1.0,"right_x":0.34,"right_y":0.1,"right_z":0.14,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The left bowl remains visible in its own wrist camera after the lift, proving it was not captured, so I’m ending that approach after two misses. I’m parking the left arm and moving the right arm above the clearly visible right bowl for a fresh, better-aligned grasp."})
tool
executing move_to over 11 steps (1.1s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe right bowl is centered on the jaw column and already extends between both open fingertips, while the overhead view confirms the arm is directly over it. I’m straightening the wrist and descending partway to preserve this alignment.
move_to
right_x0.3240right_y0.0970right_z0.0500right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4599, 1.4376, 0.585, 0.1989, -0.3931, -0.3241, 0.9956, 0.4561, 1.1744, 0.5819, -0.12, 0.3408, 0.2104, 0.999] state[eef_state]: left_x=0.3691 left_y=-0.1033 left_z=0.087 left_yaw=0.0208 left_pitch=-0.0219 left_roll=-0.0104 left_gripper=0.9956 right_x=0.3242 right_y=0.0973 right_z=0.114 right_yaw=0.0454 right_pitch=-0.0923 right_roll=-0.038 right_gripper=0.999 state[joint_eff]: [-0.0615, -6.8308, 5.9556, 1.8193, -0.1783, 0.0415, -0.1636, 0.1436, -4.0684, 10.1812, 1.9267, 0.3297, 0.1392, -0.1197] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.324,"right_y":0.097,"right_z":0.05,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The right bowl is centered on the jaw column and already extends between both open fingertips, while the overhead view confirms the arm is directly over it. I’m straightening the wrist and descending partway to preserve this alignment."})
tool
executing move_to over 5 steps (0.5s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe right gripper is now at 2.9 cm height with the bowl’s outer walls lying between the two fingertips. I’m closing around the exterior; a substantial nonzero jaw width should distinguish this from the earlier empty closes.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.45, 1.4406, 0.5442, 0.1818, -0.3496, -0.297, 0.9958, 0.4847, 1.3705, 0.337, 0.2699, 0.3729, 0.2401, 0.999] state[eef_state]: left_x=0.3556 left_y=-0.1006 left_z=0.0653 left_yaw=-0.0176 left_pitch=-0.089 left_roll=0.0138 left_gripper=0.9958 right_x=0.3061 right_y=0.0925 right_z=0.0289 right_yaw=0.0295 right_pitch=-0.1289 right_roll=-0.0561 right_gripper=0.999 state[joint_eff]: [1.2786, -5.5863, 9.4974, 1.746, -0.5592, -0.1832, 0.0073, 0.3487, -4.7521, 5.8872, 1.8632, 0.3004, 0.1294, -0.1148] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"The right gripper is now at 2.9 cm height with the bowl’s outer walls lying between the two fingertips. I’m closing around the exterior; a substantial nonzero jaw width should distinguish this from the earlier empty closes."})
tool
executing move_to over 10 steps (1.0s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThis close was empty, and the overhead view now makes the error clear: the right gripper is several centimetres nearer the base than the bowl center, so one jaw entered the bowl instead of straddling it. I’m reopening and lifting before shifting the grasp point outward.
move_to
right_z0.1200right_gripper1.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4437, 0.5514, 0.1761, -0.3592, -0.3111, 0.9958, 0.4847, 1.3952, 0.3176, 0.4011, 0.3859, 0.252, 0.0093] state[eef_state]: left_x=0.3565 left_y=-0.1011 left_z=0.0664 left_yaw=-0.0067 left_pitch=-0.0875 left_roll=0.0089 left_gripper=0.9958 right_x=0.317 right_y=0.0958 right_z=0.0383 right_yaw=0.0161 right_pitch=-0.047 right_roll=-0.0155 right_gripper=0.0093 state[joint_eff]: [0.294, -5.6684, 5.2718, 1.6337, -0.0659, 0.105, -0.0122, 0.1983, -4.8342, 5.8462, 1.8974, 0.3248, 0.0611, 0.7546] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12,"right_gripper":1.0,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"This close was empty, and the overhead view now makes the error clear: the right gripper is several centimetres nearer the base than the bowl center, so one jaw entered the bowl instead of straddling it. I’m reopening and lifting before shifting the grasp point outward."})
tool
executing move_to over 10 steps (1.0s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteAt clearance height the overhead image shows about a 15-pixel forward offset from the grasp point to the bowl center, consistent with roughly 5–7 cm in this far region. I’m moving the right grasp point outward to the bowl center while keeping the jaws open.
move_to
right_x0.3900right_y0.0960right_z0.1300right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4441, 0.5514, 0.1753, -0.3595, -0.3119, 0.9958, 0.4957, 1.1255, 0.4557, 0.0082, 0.3897, 0.2539, 0.9948] state[eef_state]: left_x=0.3564 left_y=-0.101 left_z=0.0661 left_yaw=-0.006 left_pitch=-0.0884 left_roll=0.0091 left_gripper=0.9958 right_x=0.3116 right_y=0.0963 right_z=0.1019 right_yaw=0.0233 right_pitch=-0.0326 right_roll=-0.0093 right_gripper=0.9948 state[joint_eff]: [-0.212, -5.4359, 6.0376, 1.58, -0.1832, -0.0171, -0.0122, 0.3077, -3.8359, 9.4564, 1.79, 0.3541, 0.0904, -0.0562] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.096,"right_z":0.13,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"At clearance height the overhead image shows about a 15-pixel forward offset from the grasp point to the bowl center, consistent with roughly 5–7 cm in this far region. I’m moving the right grasp point outward to the bowl center while keeping the jaws open."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteAfter the outward correction, the right bowl center has moved down to the fingertip convergence region and the overhead view shows the gripper centered over it. I’m descending with a straight wrist to grasp around the bowl’s full outside diameter.
move_to
right_x0.3750right_y0.0920right_z0.0400right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3595, -0.3122, 0.9958, 0.3729, 1.3838, 0.6754, 0.0372, 0.3126, 0.1829, 0.9983] state[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0054 left_pitch=-0.0953 left_roll=0.0121 left_gripper=0.9958 right_x=0.3748 right_y=0.0921 right_z=0.1096 right_yaw=0.0013 right_pitch=-0.0616 right_roll=-0.0275 right_gripper=0.9983 state[joint_eff]: [-0.0752, -5.3402, 5.8325, 1.5897, -0.149, -0.0366, -0.0122, -0.2803, -5.4222, 8.9504, 1.9512, 0.1197, 0.0317, -0.1832] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.375,"right_y":0.092,"right_z":0.04,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"After the outward correction, the right bowl center has moved down to the fingertip convergence region and the overhead view shows the gripper centered over it. I’m descending with a straight wrist to grasp around the bowl’s full outside diameter."})
tool
executing move_to over 5 steps (0.5s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteAt 3.5 cm height the bowl now fills the right wrist view symmetrically, with each open finger outside an opposite wall rather than one finger inside. I’m closing this corrected exterior grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3599, -0.3122, 0.9958, 0.371, 1.5913, 0.4847, 0.4324, 0.3099, 0.181, 0.9983] state[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0051 left_pitch=-0.0952 left_roll=0.0123 left_gripper=0.9958 right_x=0.3677 right_y=0.0891 right_z=0.0351 right_yaw=0.0026 right_pitch=-0.0651 right_roll=-0.0286 right_gripper=0.9983 state[joint_eff]: [-0.1846, -5.4085, 5.8325, 1.5214, -0.1783, -0.0659, -0.0122, -0.0615, -5.5179, 4.588, 1.3993, 0.0659, -0.0171, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At 3.5 cm height the bowl now fills the right wrist view symmetrically, with each open finger outside an opposite wall rather than one finger inside. I’m closing this corrected exterior grasp."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteEven centered, the jaws closed inside the bowl, showing the rim is wider than the 9.5 cm gripper stroke and cannot be captured across its full diameter. I’m reopening and lifting; the viable strategy is to pinch a single rim wall with one finger inside and one outside.
move_to
right_z0.1200right_gripper1.0000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1684, -0.3595, -0.3122, 0.9958, 0.371, 1.6081, 0.4702, 0.4332, 0.3054, 0.1802, 0.0093] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0054 left_pitch=-0.0956 left_roll=0.0123 left_gripper=0.9958 right_x=0.3618 right_y=0.0876 right_z=0.0242 right_yaw=0.0059 right_pitch=-0.0947 right_roll=-0.0375 right_gripper=0.0093 state[joint_eff]: [-0.0752, -5.4222, 6.0103, 1.5849, -0.149, -0.0317, -0.0122, -0.2393, -7.1453, 6.0923, 1.6386, 0.1734, -0.022, 0.6911] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12,"right_gripper":1.0,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"Even centered, the jaws closed inside the bowl, showing the rim is wider than the 9.5 cm gripper stroke and cannot be captured across its full diameter. I’m reopening and lifting; the viable strategy is to pinch a single rim wall with one finger inside and one outside."})
tool
executing move_to over 10 steps (1.0s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe open gripper is again over the right bowl center. I’m shifting the grasp point about 4.5 cm toward the bowl’s left rim, so closing will trap that single wall between an inner and outer finger instead of closing harmlessly inside.
move_to
right_x0.3800right_y0.1350right_z0.1200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3729, 1.3094, 0.5591, 0.1093, 0.3061, 0.1799, 0.9954] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3563 right_y=0.0861 right_z=0.1014 right_yaw=0.0088 right_pitch=-0.035 right_roll=-0.0155 right_gripper=0.9954 state[joint_eff]: [-0.1162, -5.4632, 5.8325, 1.5604, -0.2027, -0.0317, -0.0122, -0.0205, -5.6, 9.1829, 1.663, 0.1392, 0.0171, -0.1929] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.135,"right_z":0.12,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The open gripper is again over the right bowl center. I’m shifting the grasp point about 4.5 cm toward the bowl’s left rim, so closing will trap that single wall between an inner and outer finger instead of closing harmlessly inside."})
tool
executing move_to over 5 steps (0.5s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteThe lateral shift has placed the bowl’s right-hand rim on the jaw column, exactly the single-wall geometry needed even though the image direction was opposite my initial expectation. I’m descending at this rim position with the jaws fully open.
move_to
right_x0.3690right_y0.1330right_z0.0400right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3145, 0.9958, 0.5076, 1.4406, 0.6849, 0.075, 0.3855, 0.2424, 0.9983] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.096 left_roll=0.0106 left_gripper=0.9958 right_x=0.3687 right_y=0.1332 right_z=0.1024 right_yaw=0.0443 right_pitch=-0.051 right_roll=-0.0249 right_gripper=0.9983 state[joint_eff]: [-0.1709, -5.2581, 5.8325, 1.5507, -0.1783, -0.0708, -0.0122, 0.2803, -5.4085, 8.759, 1.7411, 0.2955, 0.2125, -0.1832] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.369,"right_y":0.133,"right_z":0.04,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The lateral shift has placed the bowl’s right-hand rim on the jaw column, exactly the single-wall geometry needed even though the image direction was opposite my initial expectation. I’m descending at this rim position with the jaws fully open."})
tool
executing move_to over 5 steps (0.5s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteAt table height, the left fingertip is outside the near rim while the right fingertip is inside the bowl, so the rim wall lies between them. I’m closing to pinch that wall, then I’ll test it with a lift even if the final jaw width is thin.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3603, -0.3149, 0.9958, 0.5236, 1.6505, 0.5266, 0.3717, 0.416, 0.2668, 0.9984] state[eef_state]: left_x=0.3555 left_y=-0.1004 left_z=0.0645 left_yaw=-0.0034 left_pitch=-0.0954 left_roll=0.0106 left_gripper=0.9958 right_x=0.3546 right_y=0.1264 right_z=0.0221 right_yaw=0.0201 right_pitch=-0.1042 right_roll=-0.0565 right_gripper=0.9984 state[joint_eff]: [-0.1026, -5.4222, 5.8325, 1.5653, -0.1832, -0.0464, -0.0122, 0.3487, -6.8444, 5.4496, 1.8193, 0.3785, 0.1245, -0.1832] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"At table height, the left fingertip is outside the near rim while the right fingertip is inside the bowl, so the rim wall lies between them. I’m closing to pinch that wall, then I’ll test it with a lift even if the final jaw width is thin."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteThe jaws stopped at a thin-wall width of 0.038 rather than the empty 0.009 seen on center closes, consistent with pinching the rim. I’m lifting about 6 cm to verify whether the pink bowl moves with the right gripper.
move_to
right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5274, 1.6634, 0.5201, 0.4923, 0.429, 0.2676, 0.0381] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3672 right_y=0.133 right_z=0.0371 right_yaw=0.016 right_pitch=-0.0118 right_roll=-0.014 right_gripper=0.0381 state[joint_eff]: [-0.0752, -5.2444, 5.8872, 1.5604, -0.1636, -0.0415, -0.0122, 0.1846, -6.065, 5.7915, 1.4286, 0.105, 0.3101, 1.2381] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.1,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0},"note":"The jaws stopped at a thin-wall width of 0.038 rather than the empty 0.009 seen on center closes, consistent with pinching the rim. I’m lifting about 6 cm to verify whether the pink bowl moves with the right gripper."})
tool
executing move_to over 5 steps (0.5s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe rim pinch did not lift the bowl, so I’m switching to an internal expansion grasp: closed jaws can enter the bowl and then open against its inner walls. I’m moving the closed right gripper back over the pink bowl’s center at clearance height.
move_to
right_x0.3800right_y0.0900right_z0.1100right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5285, 1.4769, 0.5938, 0.2283, 0.4297, 0.2703, 0.0415] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3636 right_y=0.1313 right_z=0.0833 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.014 right_gripper=0.0415 state[joint_eff]: [-0.1709, -5.3949, 5.9419, 1.5946, -0.1734, -0.0562, -0.0122, 0.3214, -6.6393, 8.9368, 1.6728, 0.232, 0.1148, 0.6227] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.09,"right_z":0.11,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The rim pinch did not lift the bowl, so I’m switching to an internal expansion grasp: closed jaws can enter the bowl and then open against its inner walls. I’m moving the closed right gripper back over the pink bowl’s center at clearance height."})
tool
executing move_to over 4 steps (0.4s)
step 184
assistant
agent noteThe failed rim pinch slid the pink bowl several centimetres sideways; it is now to the right of the jaw column in the wrist view. I’m following that displacement laterally with the jaws closed so they can enter the bowl for an internal expansion grasp.
move_to
right_x0.3700right_y0.1450right_z0.1100right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3706, 1.4166, 0.6037, 0.1524, 0.3302, 0.2001, 0.0343] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3726 right_y=0.0872 right_z=0.0908 right_yaw=-0.0244 right_pitch=-0.0474 right_roll=-0.0197 right_gripper=0.0343 state[joint_eff]: [-0.1299, -5.2308, 5.8598, 1.5849, -0.1783, -0.0317, -0.0122, -0.1436, -6.6256, 7.788, 1.7118, 0.105, -0.0073, 1.0281] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.37,"right_y":0.145,"right_z":0.11,"right_gripper":0.0},"note":"The failed rim pinch slid the pink bowl several centimetres sideways; it is now to the right of the jaw column in the wrist view. I’m following that displacement laterally with the jaws closed so they can enter the bowl for an internal expansion grasp."})
tool
executing move_to over 5 steps (0.5s)
step 189
assistant
agent noteThe overhead view shows the right gripper still on the pink bowl’s left edge; increasing right-arm y moved the tool farther left, not toward the bowl. I’m correcting in the opposite direction, toward physical right, while keeping the closed fingers above the bowl.
move_to
right_x0.3620right_y0.0400right_z0.1100right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3145, 0.9958, 0.5613, 1.4685, 0.7143, 0.0189, 0.432, 0.2966, 0.0327] state[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0039 left_pitch=-0.0955 left_roll=0.0107 left_gripper=0.9958 right_x=0.3623 right_y=0.1447 right_z=0.0961 right_yaw=0.0298 right_pitch=-0.0835 right_roll=-0.0341 right_gripper=0.0327 state[joint_eff]: [-0.1983, -5.4085, 5.9282, 1.5995, -0.1929, -0.0513, -0.0122, 0.1162, -5.5453, 8.7179, 1.5897, 0.3394, 0.232, 1.033] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.362,"right_y":0.04,"right_z":0.11,"right_gripper":0.0},"note":"The overhead view shows the right gripper still on the pink bowl’s left edge; increasing right-arm y moved the tool farther left, not toward the bowl. I’m correcting in the opposite direction, toward physical right, while keeping the closed fingers above the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 198
assistant
agent noteThe overhead view now shows the closed right gripper directly occluding the pink bowl center, which is the reliable cue despite perspective in the wrist camera. I’m lowering the closed fingers into the bowl before expanding them against its inner walls.
move_to
right_x0.3580right_y0.0390right_z0.0350right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.1772, 1.2854, 0.5976, -0.0147, 0.1642, 0.0593, 0.0307] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3585 right_y=0.0385 right_z=0.0984 right_yaw=-0.0049 right_pitch=-0.1199 right_roll=-0.0431 right_gripper=0.0307 state[joint_eff]: [-0.3214, -5.4359, 5.8325, 1.5897, -0.1978, -0.0073, -0.0122, -0.1573, -5.7641, 6.9128, 1.8388, -0.1294, 0.1001, 1.033] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.358,"right_y":0.039,"right_z":0.035,"right_yaw":0.0,"right_pitch":0.0,"right_roll":0.0,"right_gripper":0.0},"note":"The overhead view now shows the closed right gripper directly occluding the pink bowl center, which is the reliable cue despite perspective in the wrist camera. I’m lowering the closed fingers into the bowl before expanding them against its inner walls."})
tool
executing move_to over 5 steps (0.5s)
step 203
assistant
agent noteThe closed fingertips are now down at 3.3 cm inside the pink bowl. I’m opening fully so the jaws press outward on the inner walls and form an expansion grasp.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3149, 0.9958, 0.168, 1.4929, 0.3607, 0.4919, 0.1497, 0.0475, 0.0306] state[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0037 left_pitch=-0.0955 left_roll=0.0104 left_gripper=0.9958 right_x=0.353 right_y=0.0368 right_z=0.0328 right_yaw=0.0055 right_pitch=-0.0605 right_roll=-0.0328 right_gripper=0.0306 state[joint_eff]: [-0.0479, -5.3812, 5.8735, 1.5556, -0.2076, -0.0562, -0.0122, -0.1983, -4.041, 3.7402, 1.2186, -0.0659, 0.188, 1.0281] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1.0},"note":"The closed fingertips are now down at 3.3 cm inside the pink bowl. I’m opening fully so the jaws press outward on the inner walls and form an expansion grasp."})
tool
executing move_to over 10 steps (1.0s)
step 213
assistant
agent noteThe bowl’s inner width exceeds the gripper stroke, so expansion cannot hold it. I’m lifting and rotating the right gripper 90 degrees; this aligns jaw closure radially across the bowl’s near rim, allowing a deliberate one-wall pinch from inside and outside.
move_to
right_z0.1200right_yaw1.5700right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3149, 0.9958, 0.1684, 1.5074, 0.3412, 0.485, 0.1478, 0.0433, 0.995] state[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0039 left_pitch=-0.096 left_roll=0.0103 left_gripper=0.9958 right_x=0.344 right_y=0.0357 right_z=0.0199 right_yaw=0.0093 right_pitch=-0.101 right_roll=-0.0416 right_gripper=0.995 state[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5653, -0.1441, -0.0366, -0.0122, -0.212, -5.9829, 6.4205, 1.6874, 0.0024, 0.0415, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.12,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The bowl’s inner width exceeds the gripper stroke, so expansion cannot hold it. I’m lifting and rotating the right gripper 90 degrees; this aligns jaw closure radially across the bowl’s near rim, allowing a deliberate one-wall pinch from inside and outside."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteThe 90-degree rotation displaced the right grasp point far forward to x=0.43, so I’m not descending there. I’m bringing the rotated tool back over the pink bowl’s near rim at clearance height before attempting the pinch.
move_to
right_x0.3400right_y0.0400right_z0.1200right_yaw1.5700right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4494, 0.5514, 0.1589, -0.3603, -0.3149, 0.9958, -0.3233, 2.0327, 1.4902, -0.8658, -0.9085, -1.5967, 0.9984] state[eef_state]: left_x=0.3539 left_y=-0.0996 left_z=0.0614 left_yaw=-0.0027 left_pitch=-0.1077 left_roll=0.0166 left_gripper=0.9958 right_x=0.4315 right_y=0.0061 right_z=0.0971 right_yaw=1.236 right_pitch=-0.0897 right_roll=-0.1658 right_gripper=0.9984 state[joint_eff]: [-0.2393, -5.6274, 5.8325, 1.7509, -0.1929, -0.0464, -0.0122, 1.1692, -11.6444, 5.7368, 0.0073, -0.8034, 0.0611, -0.1832] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":0.04,"right_z":0.12,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The 90-degree rotation displaced the right grasp point far forward to x=0.43, so I’m not descending there. I’m bringing the rotated tool back over the pink bowl’s near rim at clearance height before attempting the pinch."})
tool
executing move_to over 8 steps (0.8s)
step 231
assistant
agent noteWith the rotated tool, the readback still sits on the bowl’s far side at x=0.39 and slightly to its right. I’m moving inward and a little left to place the jaw axis across the near rim, accounting for the roughly 5 cm pose offset this yaw is producing.
move_to
right_x0.2900right_y0.0800right_z0.1300right_yaw1.5700right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.16, -0.3599, -0.3149, 0.9958, -0.3752, 1.8877, 1.3632, -0.944, -0.9253, -1.7576, 0.9983] state[eef_state]: left_x=0.354 left_y=-0.0997 left_z=0.0613 left_yaw=-0.0031 left_pitch=-0.1075 left_roll=0.0162 left_gripper=0.9958 right_x=0.3901 right_y=0.0019 right_z=0.1168 right_yaw=1.2774 right_pitch=-0.0884 right_roll=-0.2337 right_gripper=0.9983 state[joint_eff]: [-0.0752, -5.4769, 5.8188, 1.5263, -0.1734, -0.022, -0.0122, -0.4308, -9.7436, 6.2154, 0.4567, -0.7253, 0.0366, -0.1832] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.29,"right_y":0.08,"right_z":0.13,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"With the rotated tool, the readback still sits on the bowl’s far side at x=0.39 and slightly to its right. I’m moving inward and a little left to place the jaw axis across the near rim, accounting for the roughly 5 cm pose offset this yaw is producing."})
tool
executing move_to over 8 steps (0.8s)
step 239
assistant
agent noteThe yaw is now tracking correctly, but the wrist view shows a large clear gap below the pink bowl, so x=0.30 is short of the near rim. I’m advancing about 4.5 cm while retaining the radial jaw orientation.
move_to
right_x0.3500right_y0.0700right_z0.1200right_yaw1.5700right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3595, -0.3149, 0.9958, -0.2501, 1.845, 1.2629, -1.2881, -0.9291, -1.9797, 0.9984] state[eef_state]: left_x=0.354 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0034 left_pitch=-0.1073 left_roll=0.0158 left_gripper=0.9958 right_x=0.3043 right_y=0.072 right_z=0.1138 right_yaw=1.5491 right_pitch=-0.037 right_roll=-0.0152 right_gripper=0.9984 state[joint_eff]: [-0.1983, -5.3949, 5.8462, 1.5604, -0.1636, -0.0317, -0.0122, 0.3077, -10.7145, 4.9299, -0.2857, -0.7302, -0.0904, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.07,"right_z":0.12,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The yaw is now tracking correctly, but the wrist view shows a large clear gap below the pink bowl, so x=0.30 is short of the near rim. I’m advancing about 4.5 cm while retaining the radial jaw orientation."})
tool
executing move_to over 4 steps (0.4s)
step 243
assistant
agent noteBecause yaw rotates the wrist image, its vertical cue is no longer radial; the overhead view is decisive and shows the tool about 16 pixels beyond the bowl center. I’m retracting to put the rotated grasp point on the near rim and nudging left to match the rim centerline.
move_to
right_x0.2750right_y0.0900right_z0.1200right_yaw1.5700right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1593, -0.3599, -0.3149, 0.9958, -0.2344, 2.022, 1.4887, -1.3674, -0.9295, -2.0087, 0.9984] state[eef_state]: left_x=0.3539 left_y=-0.0997 left_z=0.0612 left_yaw=-0.003 left_pitch=-0.1082 left_roll=0.0166 left_gripper=0.9958 right_x=0.3444 right_y=0.067 right_z=0.1107 right_yaw=1.5813 right_pitch=-0.0298 right_roll=-0.0095 right_gripper=0.9984 state[joint_eff]: [-0.0615, -5.1214, 5.8462, 1.5458, -0.188, -0.0513, -0.0122, 0.4855, -9.853, 6.3111, -0.7106, -0.7497, 0.0366, -0.1783] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.275,"right_y":0.09,"right_z":0.12,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"Because yaw rotates the wrist image, its vertical cue is no longer radial; the overhead view is decisive and shows the tool about 16 pixels beyond the bowl center. I’m retracting to put the rotated grasp point on the near rim and nudging left to match the rim centerline."})
tool
executing move_to over 6 steps (0.6s)
step 249
assistant
agent noteThe retraction stalled, but the overhead view shows the rotated gripper already aligned across the bowl’s far rim: the grasp point sits on the rim rather than the center. I’m descending there to attempt the intended radial single-wall pinch.
move_to
right_x0.3460right_y0.0670right_z0.0400right_yaw1.5700right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3599, -0.3145, 0.9958, -0.2344, 2.0357, 1.5097, -1.3838, -0.9295, -2.009, 0.9983] state[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0615 left_yaw=-0.0033 left_pitch=-0.1068 left_roll=0.0162 left_gripper=0.9958 right_x=0.3465 right_y=0.0665 right_z=0.1114 right_yaw=1.5818 right_pitch=-0.0275 right_roll=-0.0009 right_gripper=0.9983 state[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5946, -0.2027, -0.0024, -0.0122, 0.335, -9.8256, 6.653, -0.4322, -0.7985, 0.0855, -0.1832] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.346,"right_y":0.067,"right_z":0.04,"right_yaw":1.57,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The retraction stalled, but the overhead view shows the rotated gripper already aligned across the bowl’s far rim: the grasp point sits on the rim rather than the center. I’m descending there to attempt the intended radial single-wall pinch."})
tool
executing move_to over 5 steps (0.5s)
step 254
assistant
agent noteThe vertical move is completely blocked at 90-degree yaw, so repeating it would not help. I’m easing yaw back to 1.2 rad while descending; this keeps the jaw axis mostly radial but should release the wrist singularity.
move_to
right_x0.3460right_y0.0670right_z0.0400right_yaw1.2000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3599, -0.3149, 0.9958, -0.2348, 2.0357, 1.5101, -1.3838, -0.9295, -2.0087, 0.9984] state[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0031 left_pitch=-0.1072 left_roll=0.0161 left_gripper=0.9958 right_x=0.3467 right_y=0.0663 right_z=0.1114 right_yaw=1.5812 right_pitch=-0.0276 right_roll=-0.001 right_gripper=0.9984 state[joint_eff]: [-0.2256, -5.3128, 5.8462, 1.5751, -0.2125, -0.0611, -0.0122, 0.1299, -9.8256, 6.653, -0.4713, -0.7595, 0.0708, -0.1832] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.346,"right_y":0.067,"right_z":0.04,"right_yaw":1.2,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The vertical move is completely blocked at 90-degree yaw, so repeating it would not help. I’m easing yaw back to 1.2 rad while descending; this keeps the jaw axis mostly radial but should release the wrist singularity."})
tool
executing move_to over 5 steps (0.5s)
step 259
assistant
agent noteReducing yaw unlocked the descent to 3.4 cm, and the overhead view now shows the diagonal jaw axis crossing the pink bowl’s near rim with one finger on each side. I’m closing this rim pinch and will immediately test it by lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1612, -0.3595, -0.3149, 0.9958, -0.2516, 1.8854, 0.96, -0.6983, -0.9703, -1.5459, 0.9984] state[eef_state]: left_x=0.3542 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1066 left_roll=0.0155 left_gripper=0.9958 right_x=0.3159 right_y=0.073 right_z=0.0339 right_yaw=1.2965 right_pitch=-0.0303 right_roll=0.0921 right_gripper=0.9984 state[joint_eff]: [-0.1299, -5.4496, 5.9009, 1.6337, -0.188, -0.0415, -0.0122, -0.0889, -9.347, 5.6137, 0.4908, -0.5739, 0.0806, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0.0},"note":"Reducing yaw unlocked the descent to 3.4 cm, and the overhead view now shows the diagonal jaw axis crossing the pink bowl’s near rim with one finger on each side. I’m closing this rim pinch and will immediately test it by lifting."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteThe diagonal pinch still closed empty; the overhead view shows the grasp point was about one bowl-wall radius too far left. I’m reopening at the same low height and shifting right onto the clearly visible near-rim segment for one final precise wall grasp.
move_to
right_x0.3130right_y0.0200right_z0.0320right_yaw1.3000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3595, -0.3149, 0.9958, -0.2508, 1.8778, 0.9436, -0.6846, -0.9615, -1.5455, 0.0094] state[eef_state]: left_x=0.3541 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9958 right_x=0.3132 right_y=0.073 right_z=0.0315 right_yaw=1.2973 right_pitch=-0.0389 right_roll=0.0872 right_gripper=0.0094 state[joint_eff]: [-0.1983, -5.2855, 5.8462, 1.5849, -0.1441, -0.022, -0.0122, -0.2393, -7.3504, 5.7504, 0.0855, -0.6032, -0.0024, 0.7155] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.313,"right_y":0.02,"right_z":0.032,"right_yaw":1.3,"right_pitch":0.0,"right_roll":0.0,"right_gripper":1.0},"note":"The diagonal pinch still closed empty; the overhead view shows the grasp point was about one bowl-wall radius too far left. I’m reopening at the same low height and shifting right onto the clearly visible near-rim segment for one final precise wall grasp."})
tool
executing move_to over 10 steps (1.0s)
step 279
assistant
agent noteI could not safely stack the bowls. Their rim and inner diameters exceed the gripper’s 9.5 cm stroke: centered exterior closes and internal expansion grasps both remained empty, while several carefully aligned single-wall rim pinches also failed to lift and instead slid the right bowl toward the fence. Continuing would risk pushing it outside the reachable workspace or colliding with the fence.
give_up
hindsightThese bowls are wider than the gripper both externally and internally, so center-diameter and expansion grasps cannot work. A successful method would need a validated rim-hook/side-pinch geometry or coordinated two-arm support from the outset. At large wrist yaw the right arm also develops a Cartesian offset of roughly 5–8 cm and may refuse to descend until yaw is reduced to about 1.2 rad.
Raw transcript
user
Current observation. Instruction: Stack the bowls on the table. state[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3595, -0.3149, 0.9958, -0.4278, 1.9553, 1.0164, -0.8604, -0.9588, -1.8488, 0.995] state[eef_state]: left_x=0.3541 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9958 right_x=0.3099 right_y=0.0215 right_z=0.0276 right_yaw=1.2905 right_pitch=-0.022 right_roll=0.0176 right_gripper=0.995 state[joint_eff]: [-0.0068, -5.4359, 5.8462, 1.5604, -0.1734, -0.0415, -0.0122, -0.2256, -7.1863, 6.1744, -0.2613, -0.6422, 0.022, -0.1685] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not safely stack the bowls. Their rim and inner diameters exceed the gripper’s 9.5 cm stroke: centered exterior closes and internal expansion grasps both remained empty, while several carefully aligned single-wall rim pinches also failed to lift and instead slid the right bowl toward the fence. Continuing would risk pushing it outside the reachable workspace or colliding with the fence.","hindsight":"These bowls are wider than the gripper both externally and internally, so center-diameter and expansion grasps cannot work. A successful method would need a validated rim-hook/side-pinch geometry or coordinated two-arm support from the outset. At large wrist yaw the right arm also develops a Cartesian offset of roughly 5–8 cm and may refuse to descend until yaw is reduced to about 1.2 rad."})
tool
give_up: I could not safely stack the bowls. Their rim and inner diameters exceed the gripper’s 9.5 cm stroke: centered exterior closes and internal expansion grasps both remained empty, while several carefully aligned single-wall rim pinches also failed to lift and instead slid the right bowl toward the fence. Continuing would risk pushing it outside the reachable workspace or colliding with the fence.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 9.064 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
  "content": [
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
      "type": "input_text"
    }
  ],
  "role": "system"
}
{
  "content": [
    {
      "text": "Goal: Stack the bowls on the table.",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6033, -0.3824, -0.0227, -0.041, 0.9996, -0.0219, 0.7929, 0.601, -0.3809, -0.017, -0.0334, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1788 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0001 right_z=0.1787 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -1.6479, 10.1265, 1.8339, -0.0122, 0.2662, -0.0611, -0.4718, -1.3333, 10.359, 1.9072, -0.1001, 0.1441, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a6026f88591552aa28ac6c2d5587aa9888f8c09ca53b6fa2f6c773c5f11156fe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a334581a681bdf805cd483884ddaf1d7a39a5c7c270360973451418db754f71c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:40faf96c16ebb47196a8bf19942cf422362297e09f7ba06c6bac95116ccce066",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 5.728 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3
{
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  "id": "rs_00c34c0f0ed476e9016ab44f4a854087d09a7d3d535f878388",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9SzApeXKs9kb02EZoo468wQxwm4Fo-ln_Knvv3WdOtpukd-zeNwa6dBaxa6nfe33odgvHLT1UBLAeCqMeJ-F0otRgJ_zAYGPNRtZlt5NGDUUfy-5nOmPAjkdDMVtxX9w3mLG1BN_DV98YexEAqm-bOX7O9EJZey9u6B9B0qRB_MsEMVIqrqgM8VbyI8S64OdmKtlq2Ltmb8QCxsq5uzlWJ1NIVlVuj-IfVln-jKwTPoKeviw-EbnhzJ0GJv_fK9dAf6Xp9cHGdgnVNrP8LXRczwPPxpPTSFC-M9AbNfEB1Y6oDMOXLZzwI0fGqKk6MnjqKYRN5BP-nlOrPLg-dtUWk9AqA8XNuPAchgoVY1c1rpMONMkLmnk-mE55h3dQtgcH_ryzbJJX0MmGqRsZ995AWJ1yJEAFHQZwmnvgUZvpCQnu76lqZhEn_2Eqj_TGSi4tIdLfgapzUHTSKwTUXpZJhiao5yyydbUcDiQQ3cxJrZkkuvTD-chIJtbGRxg1TQuyDl70ALX81fHlxYRGz94d56cQc0G6gptJHYHuXkrBBKYaYy5lyS7yU-V8mtOdbjJ0Nc4PrLY3_h3c93ts_F2ZGTI-LApSeFddNrtYJe0mmI-4QVf-b7EN7eAvdgMlW1-JYW0qVA89AUnAQtkMgW3D4Lp-6rc4DxdVr0sYhvVSocB5GEt-3xZnIGDOys9TZp9hkCNVROHqCy-GbzsApTrgorZkczO9XlaufC8c0NaeTHRbM7WnDr_SIDR6FkjKYBTI5m5AUBM7aGWtm_L1q01XBjYxMUl81c7tZY_bAABjQ9Lh0ebGOzdWfVbOzGsRH3f4otZf2nZAKOcYCJbPt38ytfdjijb45JTTeE2-OJChuI_FqUMzYvW3nYDZlCy5nImKZ-wD9TySjIGLXsOzzlwe2_R8SPOuuX3gvDYjwO5LurzxgTl44P2OkYYkHZAuSDBlBOWgnzcIau49k6aIqJO9pGelNa1_302_xN8J_9nh7pB7KOLXvJc82SSrH-Qt0yR9h0-gXzhfsvpcv216HEfq9FPMzkds6pngjJ4zAz2bBygOffmaMqdWdKwJwdy7VppOJ2Y0it8AFf00g_l4HDyEiwZsP34eyVQdwrl2Wn3saDXqELXZHH-Axs4hE-WJYy47tkF5m8wG9z9KZ0G3LuLagvDrfDVX-6-JaKos7wKUFamtkF7nfANKmmxTCPZHj71Gq-R1bwtogoN29Wn_fUeE7BnaVmwSeLH2k1JfBoigHtonRnSEP3HG_VBF-tS5BskEf8o7BntxOCbUfzfEHu0LIqJx_TXMrF9nKSn5C8cRitZnbu9iI0J5voUhnAqziv8p9B0BBRQoHMSNhkqUyxron595m6l2hyvsPy05i8aOhdtkMgG2iXuNdhP8SWBtZnotj4aopTMzkr_9qDbT2szv0TD5wTBhRZzR330B0pXFTnuCLXPBBpujTEyNM24C5c72nYs7Yz7d5rj1Q3oSltWTkJyZnHtbi0SEHIWbI1r5nqps7IP3_fPuULTUe2BuJw9T6RIwXWDUQsFOoi42JFi_TOwV2IMeehn2YWWy4ZiQlg56LkXfIQ8vS1zkHq5FzbZA2uMhIgEZ1tawP396qyr36z9NaXD6_MQYl0_UMZ04tbBkgdlNnElPKGMQ7MNKvigkXhVrnODJiRRXSirPgY-aGTLzHpQ4zkueqTgcnNnPaYDy1ftCdsCY5zijMFKT3c9YFpI-D0Jx6NcjUYf0sr-Uqe4rFpmxkTakJd7Ef0XrwOyavHR1jyhkD8iPK8Zj19rgHK4tOw0NbvJEYlf4K9X8ZjELtq_o78HA8pDFFCqbBCWQQ3OPcVmkMp6Z37WltOLNiLTPhdnOJbGQBARKKaysWklHuDMhVs4OJKWcDV7VZMHw-K8Xtpo6jRxvNsX1WMhXqkwXP_5xjiLbxRZf7PDQ4_JqvF1PhsrtMJ8Q5hxrcLweReJ0eUpV2E1jlVMRttN6xF6Y-v7ludrO72OQRmpU5WnveV8p-VK0PZTAmSTjb5cQZkelNo8j6EtuHwS1ZPbv_OTmebw3UVwuAI62S-L_qgPpDzcZ3w42JsAb6oFDtMx-nnt_YjhW8iyJ6onaEH49OhOS52wGBUQYr00Bt-4h5naIjwm677hJLMfcXyWyxe4L0f0UGIL-hhfpA2xOsU3bOGHesxGj1ekLTq2pUU-KZ46jSwFkfHVn43OxiXSXEnIlEwnShM27OQvXyUUXiszCR_BXl61Eh8sMOxIVApnooTxfs6cXvQWdlpqrafrRQv0e9XGOO5WJqPO6BchjMxnv8",
  "id": "rs_00c34c0f0ed476e9016ab44f4fc55487d0a9d6fb911eaafe7d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.34,\"left_y\":-0.14,\"left_z\":0.16,\"left_gripper\":1.0,\"right_x\":0.294,\"right_y\":0.0,\"right_z\":0.18},\"note\":\"Three upright bowls are spread across the table, with the left and right bowls flanking a central blue bowl. I’m moving the left arm above the left bowl while parking the right arm, using the wrist view to refine alignment before descending.\"}",
  "call_id": "call_RCoLA4KFUO0is6lol9uRaF9M",
  "id": "fc_00c34c0f0ed476e9016ab44f51d75887d0ac811750edc8722a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RCoLA4KFUO0is6lol9uRaF9M",
  "output": [
    {
      "text": "executing move_to over 13 steps (1.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6369, 1.2484, 0.7269, -0.223, -0.4999, -0.4026, 0.9996, -0.0219, 0.7986, 0.6018, -0.3927, -0.0166, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3293 left_y=-0.1338 left_z=0.14 left_yaw=-0.027 left_pitch=-0.0629 left_roll=0.0314 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1751 right_yaw=-0.0003 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -4.9983, 9.4974, 1.7021, -0.3834, 0.0708, -0.0562, -0.0752, -1.6615, 7.5556, 1.746, -0.0611, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0431d121c9ceb6688015ff07192a5b997569c35b5efb5a8ab6c996f99d4d9cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15bb36696637d56424b1a2c95e0c402dcf1279d73ab95a8a3356703da002262e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1cbec0d65d08a902ad4a27acc6644a914050e785daa3dd35f49ad134b3b0e7e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 2.709 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 7 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6033, -0.3824, -0.0227, -0.041, 0.9996, -0.0219, 0.7929, 0.601, -0.3809, -0.017, -0.0334, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1788 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0001 right_z=0.1787 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -1.6479, 10.1265, 1.8339, -0.0122, 0.2662, -0.0611, -0.4718, -1.3333, 10.359, 1.9072, -0.1001, 0.1441, -0.1148]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6369, 1.2484, 0.7269, -0.223, -0.4999, -0.4026, 0.9996, -0.0219, 0.7986, 0.6018, -0.3927, -0.0166, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3293 left_y=-0.1338 left_z=0.14 left_yaw=-0.027 left_pitch=-0.0629 left_roll=0.0314 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1751 right_yaw=-0.0003 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -4.9983, 9.4974, 1.7021, -0.3834, 0.0708, -0.0562, -0.0752, -1.6615, 7.5556, 1.746, -0.0611, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0431d121c9ceb6688015ff07192a5b997569c35b5efb5a8ab6c996f99d4d9cd1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15bb36696637d56424b1a2c95e0c402dcf1279d73ab95a8a3356703da002262e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1cbec0d65d08a902ad4a27acc6644a914050e785daa3dd35f49ad134b3b0e7e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9ZTroh1rEVMmAovzo6fcUCfsm0sh2HktpF4uHbtIgMLfu5Hm-0zpYBqK4LTi73j4P7NuBq7c3ccByp0DgbeaNQugwrF5CfDG8yAeZ-iUU3Kl-zipna7cLQP7GD5c9VbrfFtjl8jNNTTLCnD2Ou9-RJXae6zG3wxUzN0H3Fub8TYa87lUf_pTmBY3IfCJ0JJItSJIYOxuyykJB2EvzohSX6GVLmDBUx-EVBAsSkhexioo_i5n6o4_XjRKeD6ftzM5C7WL_O4WNBHo3jh3rGNQxmsM_VPIZdvLIx1RToXkTKr7YFvxvHIMjEFJwZfyGAgagCCPOEAsQlf1QO7LikSbZC3lBL17BOhyledWTp4xE5vwgr_QDuFm55KeHCpW_mFOySSWYEQzynFyTlvdXRGa2s1_izc0eYuM0xZOc_A1YAAG-X2LZ9WgaRpuvTZUm9aT0AF3fa9gczA5l8gu4uYiglnMWgjFHfX0BtDgnsNNGswzaSjMrICXn5EkLpk8FCwwElKrlAtrFmfz-LmDePKby75l-M2w9kFmHhPk7br-ueGPcx6pD23OFN8XhtjRLZV20zijDEEdbv037FMl_pXsxCnL0C3PSI5juit-r8btCtAiXJeF_eVHkUe59uKAZFv80l959AEzeQL-GSxRrfItpOzLZbvtIvFjIoqOj-GxiYG3nR5jeAbQWPg1geJAyilNyc3n6NiZXyUrGrYwclBEC8a191_x6cKaAW7cKZZitgJmdHHvy3W9F3xHtBGJoWZPSgQ9LbIQNThYEdo5cbTtV3SGBB5sdiJ99kTIQmzNHHNJuLJOmLvh35uzUmmPzaauEdTzMRoKeH0eaTriA9gye6X_IOaWvTQr3RN7YYqnetn0XdX4L5jODN7r3whZKrcCs6zrmp_ePk_A5y40-AN_QQCqA17-NirBxrR-mwSc_D7VhponfXFEB4_UrMY8CesFto0RwvrYJwV3021dr_AnAKkAxcua77Cv69XhJ5BU7qiJujy7Chfx0Ldpe9hzKk5gv9Ols9IITbfe4dL06YBA9iSLVBbT6y08P0mBRNJ1yBN-pQl5CXqSF6_c6WmZf6T3ZZsRMP98pmFeg5iauKsGCPezFGzQMYLhcJW1yByJssRuaKrXCz-rRCH3Iw4v4PlpKGfOeHroXXIukRSZOYn-FdfSOhosz0W9mhjv2kqv4E2bxCKuiosGkC1p2yJ2Xkap5W3kY9zLLclbCWQCzkzzqFZWyFT_pCqBbMNPA1JJ8CwSD3UM3VOlfmL-3897z15YpkNs5bgSRxtHkA_VXcRwdHcVrOZr7ZtXDtBlYPgCKf97SAgbihlHWToabjh5K_XOFM5XKgIjWjGOhIuzbplTs2pt2hvYancb9yxKWf4QlfcdHy8b00jxNnm-EDB3OlYLiu6DYmgOUixjAs98oe1eXqmCwnnSPqqh_ZKQMvP5LUr5Gva78y3CCEEUsxUQFoSuHQKqf-Qy4CakovTZ2GlUjKbNF-Uuu29a3gYGymYBha4TW6Tu1UIyktTqIDyvVijE_jDoJwTwoLr3d6CPwJbYC-v7hqCkyLyNKaQke2OcNDcYLGwVzhUcdx8Q1vfM54n_zYa-kayj5Fm_qy-N7shy_UtboRK-1lXym24AgfjnVOzNFOJPoJBjtLcyIUrhofDCDby2LENBJ9PfYuasaPZB9zdJKLuvPUgHiOKk3Wua_LHMnlIEfyrcOIgO5TiUiMDw0YklAsNOu3yTwSQkkfeMMFbBL2PvdI5w1KlYvbS8Ukar9bPmAhaFfCyypNhGo0Zv7Pm6kIu5dj9ysHGTbf8zE4sqn9KvFGmcU1qJYkugO5Zp0rHhBHz_9O4J1paqHfMnu1r2f4a4KvynJTRvmupOjbyrSNKvoZEAlEG5wOB-CFZ_kHJo28nxagHi6R2YnnqqrMS7bC4r_WmLrRppFVFgssHGAm3ZMxsKz5GYKO0IEVJ-ZD4bGIyiJ3RNUogf9tM8hPB2r4oCB2z4AAj_x1cRjXB45vTskYrhHVgB841pnXYsvPLrZvPMj2qs82OednXK43GOzW18pYz0qzJioXKiJS7ZS3X6rnhHJC7Qo_S1gJjd3el2HGyk1owt8mddryj2a11jkPrYOfpZLfW1yL0H1WZYgTpkQS_QQGVs32_VKKNDMBvVAp61tsRW45YsKFV5D6viQ0V5PFoZBPtfWe28tkrnvcwz5keYOQBoAg6I03cl10nCHLfeWUppq50akKYoKogyhJQM7tu2UWvb65yYAv4s1oChWHbeqsKpdOWwxP1iJOsaTh-t1oLPQ8nGPRvxgphKM4ns6not7_PFEOl5TQjoDUrVC-IuKKCB09k4hJhR-vVjgtBYUMgYPq5oPhLp0bjyfn52Go8pcjs9AFHJ802UDvVKwx0u-OJCY7CFKgEpNj76u4Wm9ZyD5GgbAIP0Hv5dJu8bDAFZmxW2oI2JEk5hexLP3N23KDEwuVC_DNzkoUmsWwWS_pB1FTQF82X9KDu2oWUR9cdZFwIgBocpjFaax3w8kx1-cmEfMoJHA-Ysn7zZXyYHwMyZR-7FawR7goLwFv6grV-PjqjavZ6HJzA2OynzFO1AMcrCt5t5Y-pkkWtrnbo79hIQG_X6OcLZOu-w_UqxlFytbaOdoc3uaK_o-RTvIIbBvNQjW4221OqoeNQGRfcw38_KSyEer3h5tn6VugAMfYvlQY2hFu0FwG9LYFPfD57hm5sHKF-s_r_QMI6WG7RcyjF7LBF8tuxVtAWZSMj1ViQWxGDv9f_mqogfmGVCEr5i8Gw-BL4iOinsBjONGe9cX4oTWdrktBGu7uHVsZLGWp9eQe3HjVPHmS1qncx-vIQ3zO40FD0k18usYc4E4nZEs699dLLHRryNGyJqTsQ_WE_01kBBYyI7pw9Jvn37__orSmJtyUA14IBaOL7_8GL950yupgdxenHMa1FNlqmqvvTclf8yYdSII6qDbMq7otW_rtJzb1h59sCS11CaLm63nR10r_DtXv-ezqXpvWc4LIEBEC0CjY_IGz51JGLbFJP5gX7CFZ88qsejZj8O9hY1qKgYDDbdapSzYd_7sqm4kmN_4-MvdGg8FAqatYYs5xZc9S-JamEZchdZYbfxhPcsHcyM_tiyQjDRpbxJDJNqE2_Emx7JcXFEy1qwYo4LOPY-gWWVLJ1uQJ4MxC06KM1hDAs8W5Qfzr-ogMgZFjBWvA5AI8b39GvjIIeCD5CIC29Wku-59V_L2TOPbSUAWGpMZ6eyzXvolFOAsAW_LsOiEMcfT1a9ZZADs7zrTJIL0TDIPYm4FNsr-r03s=",
  "id": "rs_00c34c0f0ed476e9016ab44f54e53887d0a81628cfda718815",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.329,\"left_y\":-0.134,\"left_z\":0.025,\"left_gripper\":1.0},\"note\":\"The left bowl is now centered on the left wrist camera’s jaw column, and its rim lies between the open fingertips. I’m descending vertically to grip the bowl around its outside near the lower half.\"}",
  "call_id": "call_dufNyYeU1mFmn4AuJV0UA9f6",
  "id": "fc_00c34c0f0ed476e9016ab44f58a6f087d0969c770dd1fcf219",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dufNyYeU1mFmn4AuJV0UA9f6",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5593, 0.4496, 0.2836, -0.4984, -0.4156, 0.9996, -0.0216, 0.7986, 0.6003, -0.3935, -0.0166, -0.0376, 0.999]\nstate[eef_state]: left_x=0.319 left_y=-0.1284 left_z=0.0178 left_yaw=-0.0211 left_pitch=-0.1298 left_roll=0.0676 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.002 right_pitch=-0.0198 right_roll=-0.0033 right_gripper=0.999\nstate[joint_eff]: [0.0615, -6.1197, 4.8342, 1.7851, -0.2173, 0.1197, -0.0562, -0.0615, -1.2239, 7.1726, 1.7021, -0.0757, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2222ba169ee1a8219c8a61404a17e0204ed13d16b6616f8c219380efaf29c032",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4599ba2d5c936232c56e8ec6f476af6451c19361408eeec0167f9f4762fcf40a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480c8ea2bccd1d04220b1bc089d0259eba544811bde9ac06522260070ccb5d10",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /responses · status 200 · 3.258 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 11 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6369, 1.2484, 0.7269, -0.223, -0.4999, -0.4026, 0.9996, -0.0219, 0.7986, 0.6018, -0.3927, -0.0166, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3293 left_y=-0.1338 left_z=0.14 left_yaw=-0.027 left_pitch=-0.0629 left_roll=0.0314 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1751 right_yaw=-0.0003 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -4.9983, 9.4974, 1.7021, -0.3834, 0.0708, -0.0562, -0.0752, -1.6615, 7.5556, 1.746, -0.0611, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5593, 0.4496, 0.2836, -0.4984, -0.4156, 0.9996, -0.0216, 0.7986, 0.6003, -0.3935, -0.0166, -0.0376, 0.999]\nstate[eef_state]: left_x=0.319 left_y=-0.1284 left_z=0.0178 left_yaw=-0.0211 left_pitch=-0.1298 left_roll=0.0676 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.002 right_pitch=-0.0198 right_roll=-0.0033 right_gripper=0.999\nstate[joint_eff]: [0.0615, -6.1197, 4.8342, 1.7851, -0.2173, 0.1197, -0.0562, -0.0615, -1.2239, 7.1726, 1.7021, -0.0757, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2222ba169ee1a8219c8a61404a17e0204ed13d16b6616f8c219380efaf29c032",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4599ba2d5c936232c56e8ec6f476af6451c19361408eeec0167f9f4762fcf40a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:480c8ea2bccd1d04220b1bc089d0259eba544811bde9ac06522260070ccb5d10",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9d3qihBySQpTBnJy0KIhcIqIpumrWPS7PNWn7izRbqhOHJCb3AH9b2W7CQQf2Bizhv0hEv-5yJqEnBqwH-Bqjf0BscM3AD2jnKfA2TBcbfficbnnWWeYAiRFz-0PxRW5c-ttsewu71-6-1Ugb6DD1PAyebITy_TJ9xJF8ogQARj34aqVu7-QOOfHf5p7uUP5I5CHbwn5ZW7CpD7RSl8pYRZGlWi8hgBhSVfE0ZWyt4eXTBmxjXI0Ej1GtyVVdH__KMqhFPVElObwes1mT31NxmvMGJiE_WdAm35oLj7Pu0e_OYs3VrE3-ZrxaRjXrsOzMAyQXgsQFjDHDdDssP1qR8PJsbLb7cKSVYFw6iSHbGZJrhbOKHmf6GqZ7f53EeBdKvUb7q6k4L1dqFRO28D_hrR68hnpqz3dNccT6iL61IWcIxJUUp23kZilXHm4XRVuJtAXiB8AlJo0cqTN0pmRfpjFlQ5M78XAYfClTboPz_FhD5sQ379Bs24b6cjYRwb7YWiM-Ta9cglMvmYsZW9yfa0PllxxExPGKB7M6u5dT9yifl5k4buj-o2d0B3QnTRCTLC6IGfCjkPpT9I7wuOCD9HtlewaNcOFOOgcfRXxihWc9cSgfprjjgNWhNL2kRvheJan_7rMt8JxAxk3vQAi1x5kB_aVp-eCRnEmWCLD_M1LpDpm14vbJPd2Y3aLVkcsob6zY6nzyeJyvILQsD-tto565R2yjtS-fQNXwnIgvC6nB-PWIYyvAbhFVk1xvowjTfy1zkPVARbri4qpspqvzwb42dr7p2VAAgfCFpL43TMb0Dk12mLDkeKrgYboOg2hilsZZAWQsQvtH5dN-iUjtDVMUjJdAFiuEZBxVvzdls3jXS7N-IARCZnwnifOcCsFiHj8YSWEWSWpBZTS9sRz3hbNjIRknn0I6f4d9w9DT7muOSikw5EMyfoo6kk07CFgo5Htpz1n3QL8bu8cR6HQCV4gwbPbsp12Dr-SgLaEUUvPBktRPTqhsmYhzl27GyuRge5Np01rYHEOwrcwPL4tVZ4W4cTcR2gaNkuWtbxGWDLmfHMFC4y-Y8iaz_oPneryUfLB8bn8bt2bupJ5YsdhQbK__nhiCuqWAA918a4eQLXa4xi5akPC7i8yItcAWcdVzrWrPA69DJBKlHMPYNf7GakmqdyZY7X2wDendIByazc7AWZUwhz7sDz82Iz0EOJTc_Bdo5tXaBpQOIiq5uENBp1yJGQzWxcqS9JtE4xegZ8eSJu2ThjLETG-SB9PxFm8EjRZrXSuq4jwmePPW6MFp4M4HbmfRePiAJSbKR5lZa9n67H2bRIGWoajYYpRkRRXTY7zTi5RUFtuqcXzXj-3q9emQmGtFzQ1wPVs2k5iKxhXHXguxODvV320TZsspJ3pTzQjAA-BGi2etg8Wa1s8chZBsQNSRxr3mu1TTFBNdJRYdtwJw34jbtV59ixxx54vL3J8BGWp0Nbv9zMPg1z1lY22NdPuKjpaf_ARacPeUdaUeJMUzSQPJGW2DAyjLXyxS6WRSKXF2lPEf2ypc9nglJQDIMf9dA_p0V9OyUgAisRhkEooJq5wHgBU3EVE6OrczG5T9YQTWcHhXHvnLUxtDeVd3zo73pNGJwWdxFLmvW_wE=",
  "id": "rs_00c34c0f0ed476e9016ab44f5b513087d0b996fbb1f615184a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The left gripper has reached table level with the bowl centered between the jaws and no sign of a hard press. I’m closing around the bowl’s outer wall and will use the settled jaw width to verify the grasp.\"}",
  "call_id": "call_SCQDuUVrCnlFyVN5NcRrvlmG",
  "id": "fc_00c34c0f0ed476e9016ab44f5c453087d0bf05aa7af49dc43e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SCQDuUVrCnlFyVN5NcRrvlmG",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5764, 0.4343, 0.2733, -0.4957, -0.4164, 0.0087, -0.0219, 0.7986, 0.6003, -0.3935, -0.0166, -0.0418, 0.999]\nstate[eef_state]: left_x=0.3116 left_y=-0.1234 left_z=0.0061 left_yaw=-0.019 left_pitch=-0.1656 left_roll=0.0905 left_gripper=0.0087 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0038 right_pitch=-0.0199 right_roll=-0.0068 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.8718, 5.9282, 1.4628, -0.1929, 0.0171, 0.696, -0.1709, -1.2239, 7.0632, 1.7118, -0.0366, 0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4faa608946e8b50ff784614deebefa87712a4965fc37c470d2990907debfb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af0540e8698519a60c5d44052cec0dbdef57ed67c67b31adf93ae3c3ff1601c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862713ce42c2c2200e729bae0013bd545ea8669a4acea33adf08f535f31e5273",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 3.13 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 2 changed as sent

message 11 changed as sent

message 15 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.0196, 0.7952, 0.6033, -0.3824, -0.0227, -0.041, 0.9996, -0.0219, 0.7929, 0.601, -0.3809, -0.017, -0.0334, 0.999]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1788 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2942 right_y=0.0001 right_z=0.1787 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.999\nstate[joint_eff]: [-0.5128, -1.6479, 10.1265, 1.8339, -0.0122, 0.2662, -0.0611, -0.4718, -1.3333, 10.359, 1.9072, -0.1001, 0.1441, -0.1148]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5593, 0.4496, 0.2836, -0.4984, -0.4156, 0.9996, -0.0216, 0.7986, 0.6003, -0.3935, -0.0166, -0.0376, 0.999]\nstate[eef_state]: left_x=0.319 left_y=-0.1284 left_z=0.0178 left_yaw=-0.0211 left_pitch=-0.1298 left_roll=0.0676 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.002 right_pitch=-0.0198 right_roll=-0.0033 right_gripper=0.999\nstate[joint_eff]: [0.0615, -6.1197, 4.8342, 1.7851, -0.2173, 0.1197, -0.0562, -0.0615, -1.2239, 7.1726, 1.7021, -0.0757, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5764, 0.4343, 0.2733, -0.4957, -0.4164, 0.0087, -0.0219, 0.7986, 0.6003, -0.3935, -0.0166, -0.0418, 0.999]\nstate[eef_state]: left_x=0.3116 left_y=-0.1234 left_z=0.0061 left_yaw=-0.019 left_pitch=-0.1656 left_roll=0.0905 left_gripper=0.0087 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0038 right_pitch=-0.0199 right_roll=-0.0068 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.8718, 5.9282, 1.4628, -0.1929, 0.0171, 0.696, -0.1709, -1.2239, 7.0632, 1.7118, -0.0366, 0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a4faa608946e8b50ff784614deebefa87712a4965fc37c470d2990907debfb22",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3af0540e8698519a60c5d44052cec0dbdef57ed67c67b31adf93ae3c3ff1601c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:862713ce42c2c2200e729bae0013bd545ea8669a4acea33adf08f535f31e5273",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9hLJ263dF_Fl7YgBlsFbafnY4T4HMZBZJQ7l4fcSawZYPpO5tEsi88YFGBv-shs4doh57pbptgu4E-wUWZbP_S4fDqCMkCVBveFOE17f9uWsRCChba2KGz8bCRUoU3Ctj9OUdeiUl-yrYoSnFNtMRwn-Ljz3oDl4EZ3nnwarhBB3M91HGCGkc8HKejV3JI7u1fQrLZetqfPlG4b3hi5xMuggSrc9NENNrDSIjoN-PXZEr2APRpb7Kqj09l0XQo8Aie5eBLafAZzCD3RB0ojnFDyCVudncTzxEZ8OBKpTkbgZfAi6gehqtX3AGmKkyYTLdmE7DOvKCC1LAWjGodaVC7K0MC1XhG7SnNEo7aRhqpbfaaPybnl6OhLlpgtvQ7wHhbFtGRSoF-FbpGWx-ErVLNWWYN7tRjp6t0KYfex2RbLysUkcwIwXNHmx5u3GJ6PxtfbnT70O0N_PdEpff0VXVbn-VY9IYZmhwTokX_80L7MrgLnOKkQVv7JnL5KkRRdjpUMyFQHiT8ho0SHoCEMURULFy3jy08pt602ZSwDQwk-dA7Qw4CA3ToPkYPSRr7Ch0auZNWUnI88IF7rmk0dFmyLv9FwSqxg2tRglz6dVul5jWvtOvsODKvdaVpgauJa1WwQVH6phZ7VqYJaWOvqwdEmkJB74AlWYSjBb3PlJyy-rvlDA77zRkM9CCHlNuKq4sSnpQxq4lGLkywwWsNt3-en354d_K88q0k3dVon458Vjk7f5dHkeELHkGPoX2IKzKyhHcuTnNyTwh7XZNJ0PcO74rqU8b_rRLfUuX7kXvg-s8kDIzANZgpuANwACTrorTHCsziPsX1PTAT2rhjvRmyh2zc0CqeKpPQQNUKzcfZtEM_Bu5TjTAhuT-t9_G6jRlynaoZYASgAl0FLLxrPBHrD4ZdCZK_yZWkQOm_8qLU_ce3--ww0Vpcfp4fGoBabNQpuSAM7dp4R9nb6AbqDLTcdt_Vsi1Z_zvxltzSH8G2RY2gXiGq_8KcgfAtTs1cEdU7KEon5hmIXzQIFfWUW7mn9ebxewcpZUeoVKANOYZA8-5sDFa3feUX9veSOUjA3AlZGAYFXEagDaqNJ0D4cO7qNWfuM3ceVq4LFyczdRFumTCFIUO-VYe0K34lhrblE21lKA6kSyA_89FLIPpryuT71lHSMYaJKvwXzX6q519Ah_40jnKyIIP_CjGLLDzx8SdkFFHtY_WtFXKNK761Ix6sMXXPf0S20-J4plu_0f8Xndyb3WQgdKLPE-rurnECLlwWvToKvjC-oFLNsq2cNuhTK_YjFoq7ZUDyd8Bbowg7qscfsz7OmYh940Ho310ic6e1SdXVHLTTLT4WAK24cHCaUKGk38fVL7z4RXoZIPSgzTzRPmoKno3huQP-dS-zY8QQwDsbQYbKmPgE0iL2ITtJfIeoW8RaxL3OQl5QtbWxjaMarwJnZUtsNd58TlW4udkUaKRz4vVBttj7IsIp4RGU6vbhIuwvRRRMHD8vwgrOG0ipMVrmURDpBMNQcZ130FxepyU7hsKt5ikhiZTfNYtpjwB1W9iVrzElIbNSuupO-siv5T0bnfxzFxdafKzAK8KhQLQPWCUVpl8z45PYopnDumdfZiODD1FiMq_ahmtnJaQcCaShck56NBDILqIQmtBGlWo6rcxxkk7RBD4Q4Oh0atp2_JpJC4pvPB9eLQeUp60vK7wupgA1zGI-2FgnEZOd3Xp9R6QBU3ioG-eUYDcr2HCgcHEwr8DLnp4qdz0qVhvubfjZDyI9SBSdBQofU6h2vFYe0RrUtbHCi9GSxoAZpY9AzPNCNd475Y4bDJNglPr1fb84Km7B5-9sDR8KA8sO",
  "id": "rs_00c34c0f0ed476e9016ab44f5f05f087d09b2ff10c56280eb2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"The jaws closed to an empty reading, and the wrist image shows the bowl still just beyond the fingertip grasp point rather than captured. I’m reopening and lifting clear before making the standard small outward correction.\"}",
  "call_id": "call_JQpMbqAjaEiHX6OqaZoEW8MU",
  "id": "fc_00c34c0f0ed476e9016ab44f60683887d0ba066acc5c21c7cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JQpMbqAjaEiHX6OqaZoEW8MU",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.2671, 0.6827, -0.2932, -0.4953, -0.4206, 0.9947, -0.0219, 0.8013, 0.5999, -0.3935, -0.0166, -0.0452, 0.9989]\nstate[eef_state]: left_x=0.3109 left_y=-0.1229 left_z=0.1055 left_yaw=-0.0161 left_pitch=-0.1727 left_roll=0.0923 left_gripper=0.9947 right_x=0.2929 right_y=0.0001 right_z=0.1733 right_yaw=0.0057 right_pitch=-0.0229 right_roll=-0.0095 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.6274, 8.7453, 1.4335, -0.2466, -0.0024, -0.0171, -0.3487, -1.1419, 7.159, 1.7509, -0.0415, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca1a1aa8e6b0e9697fd75775529a13414340b2892fbc638caca0d07f9b7b803",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53dadc2f89e0770fa2858b80940d018b08f4ab8382f22d6425245722a9a1ca17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8085e19e719c304582d3c4b355d623d77676dfea753f40924216ce95527aa74",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /responses · status 200 · 4.703 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 7 changed as sent

message 15 changed as sent

message 19 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6369, 1.2484, 0.7269, -0.223, -0.4999, -0.4026, 0.9996, -0.0219, 0.7986, 0.6018, -0.3927, -0.0166, -0.0341, 0.999]\nstate[eef_state]: left_x=0.3293 left_y=-0.1338 left_z=0.14 left_yaw=-0.027 left_pitch=-0.0629 left_roll=0.0314 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1751 right_yaw=-0.0003 right_pitch=-0.0175 right_roll=-0.0005 right_gripper=0.999\nstate[joint_eff]: [-0.3897, -4.9983, 9.4974, 1.7021, -0.3834, 0.0708, -0.0562, -0.0752, -1.6615, 7.5556, 1.746, -0.0611, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5764, 0.4343, 0.2733, -0.4957, -0.4164, 0.0087, -0.0219, 0.7986, 0.6003, -0.3935, -0.0166, -0.0418, 0.999]\nstate[eef_state]: left_x=0.3116 left_y=-0.1234 left_z=0.0061 left_yaw=-0.019 left_pitch=-0.1656 left_roll=0.0905 left_gripper=0.0087 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0038 right_pitch=-0.0199 right_roll=-0.0068 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.8718, 5.9282, 1.4628, -0.1929, 0.0171, 0.696, -0.1709, -1.2239, 7.0632, 1.7118, -0.0366, 0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.2671, 0.6827, -0.2932, -0.4953, -0.4206, 0.9947, -0.0219, 0.8013, 0.5999, -0.3935, -0.0166, -0.0452, 0.9989]\nstate[eef_state]: left_x=0.3109 left_y=-0.1229 left_z=0.1055 left_yaw=-0.0161 left_pitch=-0.1727 left_roll=0.0923 left_gripper=0.9947 right_x=0.2929 right_y=0.0001 right_z=0.1733 right_yaw=0.0057 right_pitch=-0.0229 right_roll=-0.0095 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.6274, 8.7453, 1.4335, -0.2466, -0.0024, -0.0171, -0.3487, -1.1419, 7.159, 1.7509, -0.0415, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cca1a1aa8e6b0e9697fd75775529a13414340b2892fbc638caca0d07f9b7b803",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53dadc2f89e0770fa2858b80940d018b08f4ab8382f22d6425245722a9a1ca17",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c8085e19e719c304582d3c4b355d623d77676dfea753f40924216ce95527aa74",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE9lrPaMpZ6Itb6o09z0hoJmI69lHbAyUo1iynPovUloubyqWxjQRUw2yzD3zvXoIy4nXZYqDPH7NgrkeFDBgcNFje8Yoa_xch_6YY_19lA-YcKTTtOQjtx8cbl_Xi2IDhRZNFV69tIOEtlkkQeJk40L56tNKxmRDr_9DDWdOhSqm5YpQKcBG95_-dtMQc2eJal39XjjjIMvHZEvM3wywtYcCJJT5LfhIE3pAHbrx53a2lVu-kb25owjh3zjBvu7wiQTQrvou7WM56A8vNzcQVOxtwvWLy46udHQLERQtDqs02C67MjyoLjRTILAAL2gazC1qGHSRoOZe4futuoLYG4IQ9ZqpDloN-kieLNof5TSqaDyPTruxZS3DeU0TqxLdrIunG12nXfzGxKWfbnfHFydyk8dcwJLbSSVMsJjqZyK3pbwWs4oaEnZjXk2cDpfzVWHJ7iLE6UJh_gzpfvFaMnD31yRPIuFBJyxk5KYjXo2ZRH9S2548ewQbE5UuU1kD5ibpaz1zlyoXCcuJ9dwvPFKxvP2ySY9A1sIERjHYTJ0oyT7ah9t40fp18EPWxzT7TkvFPOvfpJFlKHoIUE4tlUXlDhC9Z5Zh3TAR-UOHoImwpinofGZ7ZtYWq3vq7NqAPs0jkoHE_NoFG2eKsqYFnot7OrEttoZmOCv3W6tF_NSTdCRKXzdWnF_l7tPQKY203JrswHx5CQOghgcXCYGLseSysc4zHMtOrAtlb0uu8nxGaLjnifk1TXbl2H5zK8kOlWkFGkL_CXgTDBMmkBVbfcrTIm3VLptDgEAAHDVSTrA6n8D_94a3tlzrjivFdQVe4ELCMb6WQSKAlqf5G_phWILQOfNb4BwJYL5T31Mf3pTKiQBTJLmMbnhkINwliLdh_hGFurRFWoDmX2JQiQytkleEngxr78C4Xf72EdPvYFI8xHWREmdi1_QMGBXvWpDIQnLhgLdR8PbCRi90NpEtx6ECgH8Pdpw5SDe1pjVSYWOGhx_I9M5_upbEq2ykbTraRZqMdVVN2er_TTbEB9F7UqrDj1kAVDigtrDc_QYiayfNHWR4WvDyppuTBzjyTDDS7EWc3chI0HsHIC1q-Iqqju35h7EwAEt1URLCN0eT3RMsZ92jgbwgKd3NY-c3-hmNGDiUyHB-TLmihnaQBROYkKBdLSdLRcBxMaJlwzG61JhQqycaZFBPdy7TTM8fqT3dO8AfMlUpWGiO7N2nNeKNRAuaV2AJvrk6e4ad6LUcKCgcxYdGHzdQcmPG4Qs93kasTRndYord4LefnZkR42qSBl4ISpjv10MLwsoTr7qZ2K2w-w9La580U0qlNK4MweKFCG53zaskJ4Jn2da_fGgNBwM4Ecw6N1vADRp73U5Ojl1JllmURCGhnI00M7bgaUfY9tM6Rm-STfeFakgzIwdBrSPh__sIk63IH0X66UZ-KKFl9BazAl2Xyh0DYMv2hVGElEEqvZHCHzjlgcZ-4PW4dgFd0KTJxynd1hgVnzmzueSlPzwsjQa9jXYnkK4H83FUi_bqbDNw4z6C4WMXy0SPgmIpfQOicLKd_YAG1n0c-0375zQFIl_oBO2rchQrI4INTCf",
  "id": "rs_00c34c0f0ed476e9016ab44f6363cc87d090081502f3401ef7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.345,\"left_y\":-0.123,\"left_z\":0.12,\"left_gripper\":1.0},\"note\":\"With the arm raised, the bowl is centered laterally but there is clear image space between its near rim and the fingertip tips, confirming the first grasp was radially short. I’m advancing about 3.4 cm outward while staying safely above it.\"}",
  "call_id": "call_0xhn97uPhU1G7rRvBscft1tr",
  "id": "fc_00c34c0f0ed476e9016ab44f64109487d08f4296b57f1cefc8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0xhn97uPhU1G7rRvBscft1tr",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5701, 1.356, 0.7605, -0.3252, -0.4614, -0.3893, 0.9988, -0.0216, 0.8043, 0.5999, -0.3943, -0.0166, -0.0452, 0.999]\nstate[eef_state]: left_x=0.3292 left_y=-0.1134 left_z=0.1006 left_yaw=0.0174 left_pitch=-0.2252 left_roll=0.118 left_gripper=0.9988 right_x=0.293 right_y=0.0002 right_z=0.1723 right_yaw=0.0061 right_pitch=-0.0267 right_roll=-0.0094 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.5453, 9.0735, 1.7216, -0.0611, 0.1636, -0.1343, -0.1026, -1.4838, 7.0359, 1.7216, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c9b98a070a31334c925e169daed179b21e7aeaecb790ca6e1ad833115fa100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8c2f08f0217f8ba6294d261bb8accf70ddc836db5befa6e785c436faabbdb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930447796f1c6d659cc9ccd86410881e628c168197c6867431b26a5d071e72d1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /responses · status 200 · 4.034 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 11 changed as sent

message 19 changed as sent

message 23 changed as sent

message 11 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5593, 0.4496, 0.2836, -0.4984, -0.4156, 0.9996, -0.0216, 0.7986, 0.6003, -0.3935, -0.0166, -0.0376, 0.999]\nstate[eef_state]: left_x=0.319 left_y=-0.1284 left_z=0.0178 left_yaw=-0.0211 left_pitch=-0.1298 left_roll=0.0676 left_gripper=0.9996 right_x=0.2928 right_y=0.0002 right_z=0.1742 right_yaw=0.002 right_pitch=-0.0198 right_roll=-0.0033 right_gripper=0.999\nstate[joint_eff]: [0.0615, -6.1197, 4.8342, 1.7851, -0.2173, 0.1197, -0.0562, -0.0615, -1.2239, 7.1726, 1.7021, -0.0757, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.2671, 0.6827, -0.2932, -0.4953, -0.4206, 0.9947, -0.0219, 0.8013, 0.5999, -0.3935, -0.0166, -0.0452, 0.9989]\nstate[eef_state]: left_x=0.3109 left_y=-0.1229 left_z=0.1055 left_yaw=-0.0161 left_pitch=-0.1727 left_roll=0.0923 left_gripper=0.9947 right_x=0.2929 right_y=0.0001 right_z=0.1733 right_yaw=0.0057 right_pitch=-0.0229 right_roll=-0.0095 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.6274, 8.7453, 1.4335, -0.2466, -0.0024, -0.0171, -0.3487, -1.1419, 7.159, 1.7509, -0.0415, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5701, 1.356, 0.7605, -0.3252, -0.4614, -0.3893, 0.9988, -0.0216, 0.8043, 0.5999, -0.3943, -0.0166, -0.0452, 0.999]\nstate[eef_state]: left_x=0.3292 left_y=-0.1134 left_z=0.1006 left_yaw=0.0174 left_pitch=-0.2252 left_roll=0.118 left_gripper=0.9988 right_x=0.293 right_y=0.0002 right_z=0.1723 right_yaw=0.0061 right_pitch=-0.0267 right_roll=-0.0094 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.5453, 9.0735, 1.7216, -0.0611, 0.1636, -0.1343, -0.1026, -1.4838, 7.0359, 1.7216, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97c9b98a070a31334c925e169daed179b21e7aeaecb790ca6e1ad833115fa100",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d8c2f08f0217f8ba6294d261bb8accf70ddc836db5befa6e785c436faabbdb4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:930447796f1c6d659cc9ccd86410881e628c168197c6867431b26a5d071e72d1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9qv3PFLszLWyTARpsyLpAiSWySwYkSPx-H9FEWhABgrx6qBIvf6dPWWTRA5LpcKy2ut6wzP7JNTHDg7RPzYW41rG3LKOwy-OuoZJpkzQcwhu9cY4P8A_PFmPZ4w1wHFwcxLi8jeXMuxxV2FvTAtmXT-wNKSU-Cyb7Lm2EqPyksY-VSnKkUOxb-gZrFksS9kOaQ8-vQ6Q7K5TVG1JcKlmFI1Xaa_1rXaM0FWOcdn64TTRl7qIxwJ__miN19SkhYsWLlH-FhWgbPHZ0J8RUPIayBHN_XD67PzXem9untp0lNbD5rpIJp2jBjkmEt2_R1dqU2kcRlL3a8k5rYv9geIhIYmlLfUZULd5RG7qnDJ89zDAUEfsGc6rTs7krpqdKUWG-jr_nA_XEvSCUMWlEJSD-ppmPVQSrHPT9L8pARHA5huj5CPu7IZIJ_lM3cUZB_3l5fXS5tyxyIyHISysXvh3w8G0ZLuVEZ9cGUECLkkIVrLqIVYZ2XvbBhssMvWlktvLFzh1_2SOrJSSaeKWK_2JfqVkc70d_sEw4L13c8oY5aXf8ktA0q3aMIO87g1MQhAOWgqFSozNYNiOvulCiCbjUSl8v5wx9pZxjDpUvi5k5bDqwPCJO58WLm_9zpWSpcJ0xQJgxqpO1ZEaOGOCW6zSiBU1Bm_1IYkvc3kQxIMsxOwCsLNY4V9bi6wr8UQPAoXRcj7zcuBOIPiVOVa8Ho94lxG-A7cvaEmTJuYAfh0orU37jjMBg8VQwX2cOHvKp8R8xErmivw3VIBjF6d61_RNkRHKqfPdwuEXzWrUyRq49pc7UgiQTCmbcRDUfjPGjoLlygsVHIh-2peYyvKEvwOo4Hlh5WQO8w3P0SfIiCGuE1xQCSH-N0NM0GU_U4DmHJU7ZlPNHidnLDAlJ9h0SCCzrG7z6tTQOg0-gSkNzPqTiq8AZghmN1S9lo85Upcdvlh0MiEi45Y43Y2Fi6tairD0Ww4trheeohg9nHNCs1FE7NrjPNTjJdEm7fC9_el8eh8KMgaEOBg9XGnGw1SVBfGQKu5_0Jiq1geaNWfVwZt2ovzMAHhE6iUv_M_zphDuXShDF0b11VWp3hOVxj43wefSr1PJaWcCy8eCL-MlXMrgOQ6oecDUuc52Q0r88hZ5XVHB1Pq6x7wxe4Q9KhJcr5AbHG_UiLRt9w_rSe0uUkufuwcp3vSSqvveIYnYxk1nQrraiUYFLlfBpgr9rCMAZzF_pae0dx3L8qB_ADOCk3hoCrphV-nifnjjzMr1zfRw3CmD_r3ILOQ5ZhHCUXVdGbxjvWgdspoFERhl01F7Q6WuDDU4VzjYwh61zCBdDvAjorgxejRsdFRKIM6ZeCsB_HlVW1MbgFtytO57EpFzIhp5oNBxzu0qfpMrkvAiPBF1GdVBbh3TSKUEf89KOmrnVpHnU4993aP76UfyhrGu8e35ZExNlB6bzdDONHTfDlDbzWIi2iMbZvghD3CVvvZBMlsiL5Srxz1EKlK8tZc3Pz1pnYWScZEOZ3Virao2Jr8LWaGxJpfUSD0Jnb2tBHzcNpIJiBp0aSY_EB6BbMsRhBCS7lYXsqj9p3iz9nZxt95i3z494BgsAiJN8sR7kbV61zDenIp87wJ0IvtgoUzGIUsMuEeus5AoX6a0aLLIzgLcLtwjIAPbTA4FoDDsntXE0MpPaxEzvrm4pjsgRoVWjcTPYND2W8mO4uIcROiD-ZjSpGfztTmtiA0QIye07mtyU-H6fFpE9z-wNOUrqvThWwHXyfFFDi5G8aVaB5Pjk2hZ-aXbLqD_7Ggy6YiO9Osgi9GdHqTvHtk9oGcnlcZUaL-zMsYwppo6MXzd6tZplIRqdJGnE-JoAU8AeiMldCeltXin1ohxsMpx8hxR6YsbRmH7U4tnR7jJQ3jEv6W6qo_5XiE2Iw7ievmeywvUcV5gFmn0Ytg-CO8Nns_tLaMlVr0VaLGnXHVG2sAlUBVsnaNaajJr60N4zkr-gmmUEGSuBxip_9ov5iw80egGyEGqzzi7KJQrgTmC8Mr6iz1giazM2F-O7C1IyhoNtMDACeNGilaOVaKq_pxB1psw1Ayc5L0GCMN4L4-E4VHnoV_fVnMzNm_eSdCA8P3xYZ1pRwTFVEyGSkZUgwGPNQoSrq4aUrdjNwvVz-Fe8mNiYQuFXSN2dPjMDenxZ0A8spGQNeEGFv4uWvBX-dZHvMwWL1fnZsyg0YO2QLJrYTXud4hjH7TKPm2oOS4quuAKehY853YhLFKSqdehcp2Kh2ZrXxmcDOmEgazhIuiTr8DCOYgPwB2epkToOuSnzK68r8aIQO9BcsdAv0a191NTt_CK5YwUGzGud39YtHQJdiP36K5DoMFZxlDNI5QS8LGZJZY0AA-fB9wbox0A9XB-UKRe3nM8jWXf3v-uhazv6rF6TvlNzp0LM7Zv6UdX6mPTJKDpWifyI3WpoGZc7VbaMZ3jPv6mmMzaHXv3VU_6edImjE8l-kLYXDPwCVtuR2F3UVjVWMi9AU63EvzNQCc0Kosvuf5ZBQe7RFTnlgIKNJM7Uqy0GOx4Jg8GDfqHyPjztr5EbKF8zzkPu4ConB-rc3x2OTS3R4hNKeQ7DWFwUluCJ5I5OlapBq-0EMZGyjqYOj9BpdhRxtfZixZHYZXHsQLW_1w8EGpCkWeay6EKfPHd_qd5G_x7Lpdd6sKMGSkBFnF7LYqBI45NR66aqEZuECiCsRAeriPiFRCssj4kgrmhuuPqpQ0_-rqx67",
  "id": "rs_00c34c0f0ed476e9016ab44f667e6c87d08762f99ad3ede3a9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.38,\"left_y\":-0.115,\"left_z\":0.14,\"left_gripper\":1.0},\"note\":\"The first outward command produced only about 1.8 cm of actual radial motion, and the bowl’s near rim is still just ahead of the jaw tips. I’m raising slightly and commanding a further modest outward move so the bowl center, not just its rim, reaches the grasp point.\"}",
  "call_id": "call_fspwT5X3oV4s2AueJWf1L4zv",
  "id": "fc_00c34c0f0ed476e9016ab44f69333c87d09d306a8a0518836e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_fspwT5X3oV4s2AueJWf1L4zv",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4866, 1.4746, 0.9707, -0.4099, -0.4164, -0.3511, 0.9988, -0.0219, 0.807, 0.5999, -0.3939, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3707 left_y=-0.1112 left_z=0.1257 left_yaw=0.0444 left_pitch=-0.241 left_roll=0.1102 left_gripper=0.9988 right_x=0.2932 right_y=0.0001 right_z=0.1717 right_yaw=0.0076 right_pitch=-0.0291 right_roll=-0.0122 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.9829, 8.4718, 1.2234, -0.1245, 0.2857, -0.1343, -0.1846, -1.4974, 6.9949, 1.7363, -0.0611, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3088ae417a764d30e6bd1d1e63abf93c5f0fd609829e4ffb6a87d83d6dcaa4a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d08e951098e1b483d3cbcf1064539d501c6540514b4e56b501abc6833704be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97534964c3140caea4017f1ec2d6bfa2e7a5540ff8b54f41adc7cdd14ffa98df",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /responses · status 200 · 4.714 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 15 changed as sent

message 23 changed as sent

message 27 changed as sent

message 15 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.5764, 0.4343, 0.2733, -0.4957, -0.4164, 0.0087, -0.0219, 0.7986, 0.6003, -0.3935, -0.0166, -0.0418, 0.999]\nstate[eef_state]: left_x=0.3116 left_y=-0.1234 left_z=0.0061 left_yaw=-0.019 left_pitch=-0.1656 left_roll=0.0905 left_gripper=0.0087 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0038 right_pitch=-0.0199 right_roll=-0.0068 right_gripper=0.999\nstate[joint_eff]: [-0.335, -6.8718, 5.9282, 1.4628, -0.1929, 0.0171, 0.696, -0.1709, -1.2239, 7.0632, 1.7118, -0.0366, 0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5701, 1.356, 0.7605, -0.3252, -0.4614, -0.3893, 0.9988, -0.0216, 0.8043, 0.5999, -0.3943, -0.0166, -0.0452, 0.999]\nstate[eef_state]: left_x=0.3292 left_y=-0.1134 left_z=0.1006 left_yaw=0.0174 left_pitch=-0.2252 left_roll=0.118 left_gripper=0.9988 right_x=0.293 right_y=0.0002 right_z=0.1723 right_yaw=0.0061 right_pitch=-0.0267 right_roll=-0.0094 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.5453, 9.0735, 1.7216, -0.0611, 0.1636, -0.1343, -0.1026, -1.4838, 7.0359, 1.7216, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4866, 1.4746, 0.9707, -0.4099, -0.4164, -0.3511, 0.9988, -0.0219, 0.807, 0.5999, -0.3939, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3707 left_y=-0.1112 left_z=0.1257 left_yaw=0.0444 left_pitch=-0.241 left_roll=0.1102 left_gripper=0.9988 right_x=0.2932 right_y=0.0001 right_z=0.1717 right_yaw=0.0076 right_pitch=-0.0291 right_roll=-0.0122 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.9829, 8.4718, 1.2234, -0.1245, 0.2857, -0.1343, -0.1846, -1.4974, 6.9949, 1.7363, -0.0611, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3088ae417a764d30e6bd1d1e63abf93c5f0fd609829e4ffb6a87d83d6dcaa4a0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20d08e951098e1b483d3cbcf1064539d501c6540514b4e56b501abc6833704be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:97534964c3140caea4017f1ec2d6bfa2e7a5540ff8b54f41adc7cdd14ffa98df",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9uFutMEE2aX0De-3NBbmHUHGd0l8uLAooUV-NfGruascJJJ3d-KHjyV5c3maQH6lsRbMjx4PTD7cr8eSC4-CPBWAnPFE7soiTw7vvNOCnpnFbkj45gTSTQge4WQUZwNpeK6FSwOOQ_q7V2uMLBSR6NXFNHTHbEFNttFzwDrcCoLra2-phLHEVseptXrtN3jLcbKAEA87AQ7dQCMQCQKWtOP8VZrcHuw37fgvZBNNU12V3_PYWkIbT6-8q7WnGupSjzIqaKpdzWiRUUjGirXgJ9LoV7gdOyg3tEYVyF4oXYzd9N--cWrbjem-SNDPFGYJiFEAQ3O2cTiXkQy6bxaVyDy49iyOFedfPfPCSEhIAlT8st4nI9F2xik1bWbpH6zbY2q6KmExDXjiTlgIg8WA6SC880AT-HhukyKSd-9LA1fe3OcFE7GIE8rqbEWIEz2WQakB9OJFW31togCHzFizwGnKZkxp6VRMCzOIOCVdfom25B5Py3Cbm9GbaWgHRuRVdCyrwvGSqLj67t3w7d5JHYRjLeSywwTreNwXAiNZHCmcmmetefGiyW2WAbogQXkgQ_HOTvGVabDUhRLr_RzYZrOQVKPpdv0ecWXYNBI5HBf3SzQ9Kq-HbaJvOeTjBd2rxmlmQbHUyKyHN9y0ai38p6Tl3g_ttx3zqfnFnTZIWskqJFYv8ilDmmWLDLV1KSzYDMQ735AEDxBoKnHbDHG_wE-56NlRTKByexCeXIksyY0CJLjsljwjh2A3RoTOs1_FYJVTZlNteA34NaauD9oWU6paEV1WRhXdt2j7GulPfUzDouUUHkBiAORN1TIdhpVmk6gSwWgrs0PT2uuduGY9b1WZOakVmjtW6DL2oUD9phuMLldY3SbLwQM1R6sQt0FAwQxkc6KX1o2Uj9ig0VYYLD6tHiK6pj-PhkTnlRBgSDVTysU1wZbFW6-Kl8y_vhhW1y8Q40MesJ2rlmELlCgr_RCuUzFdfbwFeExW48bOM9IaLSKmrFiWIL0bwh5IpyHThFhqkcHiTveJEVyS3err6J95LkRVHhsOzX8MLESSyMOEh538nc_EGkyDne98dv6DSMRkg95GmVgpjvWZ2MDYnlgNIHlWOskZp3Za8Jl3E9X7Go6_I0Biwkg8BT8XE-daykZeFrHhiru2FieZnzWjskNAcFGlnr7xJYFJ0F4etTUKbE0yjZ3mWDeUBeRfy4oNUr3TOK0JsJnjqXVuNzahkhF-rJjspmNpUulPQVHCnidB1MOzHR3qqQSQ_kDUesto-BnjW11IET4jtsGFUvzX0fcuw_jfJaQW-UAY4I9NMBB1xPIefN9uDg79heoRP5_oRtv2paW9UbUqAFiih0j50TjtozLx7lRJmtLdTfSwTrYTmBnilzO89pdMcqRWUjwEgwCkDroW7NUfxk-Fp_yNI8hP3AHrb89FDo03rpiFeJxJ6dmQOg9OSLkRbIX9IT79cUgXqON7UKJvsPsUfQjpU-iYmvT_3TuBQptJNWu7u72NYlOQj26HUmh5Txid1LAt65meDUlTkVAGkFzB8wcOrzzLvQvgxf0wvSMzK-5yhYqh64eVCkqkvssYb0VL4BSatRwlbjs9CweWl119JmqTqDLihByDJVO5k_gupwtcKLBCAoeCr1oK7d29KrfQCvoEChjovtHYqKEsNWRXcaFZGrCJaI8pjydQEFVbbyQor4E0KTJB-mniWq7FGp7QUf0wDxWKYJSk6gY8QoxmyMyQhTBLdD9VZ7xqNFri0Qe4YYj2kxpHXrkw1yrTSZepvDpJrX3NuE7TWkoNwFtOECLlVvSiZs022-Lh5oMeQ5tWluGwkjHsgFVCjcp2hOfT_pSQPeWsZMhlcgqXioIVe1lrnfkPrYMBMtQ5bS079qsfrzxsJFfPjUon6Ejo5rm7RC6kpakuZr9kXmiUBjb4SboIEKljje_6a3cFeY-l9WkNDd_3DJTX1iflolQ2sYTjQigDT9EIDsjgvIKlH9FKaGE-yOgLZR2rMpmGAYhX1zw7jhmf25zTmcD_CQC58rZrLNfHUNVFKePW0VuG8jJ-OORHQO0iAwoH4ev-znNBIvadO8Xo7qwzXYzJ47z9DL8zGuDA1Hs2Vq7vI87Vdg7AeEp5FYq0gdODXFu6iJSOwgFU1-m940IuZu4UPZOQPGumaHrpB4",
  "id": "rs_00c34c0f0ed476e9016ab44f6b933c87d09ade9e1ff7057b63",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.371,\"left_y\":-0.14,\"left_z\":0.125,\"left_gripper\":1.0},\"note\":\"The bowl now reaches between the fingertips radially, while its center sits slightly to the right of the jaw column. I’m making a small rightward lateral correction at clearance height to center the rounded bowl before closing.\"}",
  "call_id": "call_UriwIYZU3Noc80MS9uOIX42G",
  "id": "fc_00c34c0f0ed476e9016ab44f6dac1087d0bf8a9cefd37e2264",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UriwIYZU3Noc80MS9uOIX42G",
  "output": [
    {
      "text": "executing move_to over 3 steps (0.3s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4815, 1.005, -0.432, -0.4126, -0.329, 0.9988, -0.0216, 0.8101, 0.5999, -0.3927, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3753 left_y=-0.1114 left_z=0.1332 left_yaw=0.0353 left_pitch=-0.2394 left_roll=0.1205 left_gripper=0.9988 right_x=0.2935 right_y=0.0002 right_z=0.1711 right_yaw=0.008 right_pitch=-0.031 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -6.2291, 8.1846, 1.3797, -0.1636, 0.1685, -0.1343, -0.1026, -1.4564, 7.0085, 1.7216, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e28289c544f857e5ca3b2e701e441b11a98ec9ab9a83eae4b51ef2400668c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d817a52844f365446cc2567cb25f2ae2b30cdc932604c10c24f9886a60b9cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bdcddec13d17ed56c02ea09902d44d1b0769dc39b7fcab554a2c9d2aff58b7",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /responses · status 200 · 3.748 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 19 changed as sent

message 27 changed as sent

message 31 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.6415, 1.2671, 0.6827, -0.2932, -0.4953, -0.4206, 0.9947, -0.0219, 0.8013, 0.5999, -0.3935, -0.0166, -0.0452, 0.9989]\nstate[eef_state]: left_x=0.3109 left_y=-0.1229 left_z=0.1055 left_yaw=-0.0161 left_pitch=-0.1727 left_roll=0.0923 left_gripper=0.9947 right_x=0.2929 right_y=0.0001 right_z=0.1733 right_yaw=0.0057 right_pitch=-0.0229 right_roll=-0.0095 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -5.6274, 8.7453, 1.4335, -0.2466, -0.0024, -0.0171, -0.3487, -1.1419, 7.159, 1.7509, -0.0415, -0.0122, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4866, 1.4746, 0.9707, -0.4099, -0.4164, -0.3511, 0.9988, -0.0219, 0.807, 0.5999, -0.3939, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3707 left_y=-0.1112 left_z=0.1257 left_yaw=0.0444 left_pitch=-0.241 left_roll=0.1102 left_gripper=0.9988 right_x=0.2932 right_y=0.0001 right_z=0.1717 right_yaw=0.0076 right_pitch=-0.0291 right_roll=-0.0122 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.9829, 8.4718, 1.2234, -0.1245, 0.2857, -0.1343, -0.1846, -1.4974, 6.9949, 1.7363, -0.0611, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4815, 1.005, -0.432, -0.4126, -0.329, 0.9988, -0.0216, 0.8101, 0.5999, -0.3927, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3753 left_y=-0.1114 left_z=0.1332 left_yaw=0.0353 left_pitch=-0.2394 left_roll=0.1205 left_gripper=0.9988 right_x=0.2935 right_y=0.0002 right_z=0.1711 right_yaw=0.008 right_pitch=-0.031 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -6.2291, 8.1846, 1.3797, -0.1636, 0.1685, -0.1343, -0.1026, -1.4564, 7.0085, 1.7216, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e28289c544f857e5ca3b2e701e441b11a98ec9ab9a83eae4b51ef2400668c74",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5d817a52844f365446cc2567cb25f2ae2b30cdc932604c10c24f9886a60b9cb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86bdcddec13d17ed56c02ea09902d44d1b0769dc39b7fcab554a2c9d2aff58b7",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9zl3lrBilei70Z5VmjCDHChaQiZQ37RGWl_tsAPQjyRgID3wl3IfrmJNr2z8D0_XSHNCKGO8gF4zpoKgtmQ9IIth2hoYLB6fbcqiTX_mo8eDkYzKCSdSc3viv9jTvQYYJt5P8d5xkxcB1-Q1lf6ygksOrphVhgqZubRCHexSbvLAQSerC4_KXakN-a3M-Vo3UngPVjHnTJvMjnuubD7f_WlzbuIti8zSfwDtBJHPdsItvCEt9AGo1Yoeuwrp8jffrgndWeYX4snhMkN1lvDx9KbopgbWBMtaJgS0LFGZMaOCEiNW_hG9e_ZFYVimQ6gGhzBbUTuC33OElYBjBxNmeEdvp49F4fO0sGZVv61CFAwW3SRN5mIMVQI_XqVzTnbUubtpRhakmxfNVGblZCWvfEnbpbpN1F-foSzoT528SvvqbD8Tu4-Qc6RW3AzBMw1VX8opNWmQhs7qUqtcRUsr0Y186Uhw5qQQiwooR5V-8ghZUEp26ao7_O_W_cerv4Au23aieT8DK87J4zuqMXidZlp7cIJa2lz2kmYpTEhf-7eAg8rE6Tq1aF8p-rt8No_evlhYyVG0KBU706P00IGhl6xq2cvjS7XUSqsj6Gq2FMoFy3wEkbUvUM0GvBFPWVSZue-Yak9FsFdbUox035Ek6RiOOLAlpGRBdO-jCV-r1EuvwlmEjDStlLnDMbNbDfhtV0EmCI5LtthUD3xVVPsdxX99w1kzruYL_K3y8lchoRjWq-sMWTDdkmSPEaeyrr-9xbrM7DQjDjaCt-ElvWAlYIVdsaneHKqAlHVuVlfkY8ZlPYNK-NhXjd1xQSV3K5mnE8CaxBqgk_3W2VEXwZuFTHBx-UfuPis6v9U3uTJGk7CTbwPliAAufA-WD1eOXe5dmxhTTcV1GLuiLr13eyzsIfdN8XvepvBwdiDmlcBMLjXVOjLOJWgEoYmu-D7PNNK8W_N6SJySz97lAILJhp7lC565PRWH3BUws4AvBvEM19mCMXU6CjmSwacHi8b-fMdRddfDK8UEo6CKrUJtZcgGCASnbQVpa8JUCiD8QvJUFxgzg-tdQ4EWFlEHUygk5HVEEuohGUmahC4IhgGjJvTJFt5zW32fyHFZn6rcvyyDbo7RMumBJh_SMZ4p47OBVhwnpegUQDBLkqhCeWyOj_j1aKg9qXHjZ5Nrhzb_dbVIJt9alcxm1rMJbb8Ju-WxSz8R-FQ5XJqv_GA0O_Qe_q57pUtBebIpVH05fNYyZ-PGN3Oe_ebH8nczGY-If3wL-SUyVlBLol8SU85arjXRgjZ7sPz-ar2zikHeC_Tibt8nQ03BjlXf4piGX2IIkJSfg_N3FYSZXA2ec1zmJGJFtI7YMshBZSFmvxhbikTfydz9FFsEo0EUziNkB3UlkdsZjV4Tm422RksnC5VmABvHvftkrAXj_dRYNJTQv6yT47U1CcPUhuEWUHMpTtiNQY7gwbeXxzk8iyukEbca5DfNlrxDD5cy62TS2mwml0RT2nGTj68BKSUHKMv9aDTgad7Q8Xn7dXK3h92Dy4Ff6G38tQ9UzTOyoqG3RWVWqNbBOIgw_Lg3OnSzHLjpvMSKzSSQgE01-_WF5pi5zTZni93vrCOwciyBRvoSXR5xJWhyjq8-zyo8OAQ8qmFNne88PX20kFapcAzhdiyL7E6-Yx74uHQZQiiH2AUH5rz78Og6-12nyAc4q7Mg_VTr_Gmj6uMLsaC9YtFFao_2-LM8Lw7okHCeLG6sNvjK-s1FYK0jVfe0uoOZCSzNAV1Pgagak93n1q8YupLdhdossAqutlkdAwJFBRrVmRBlhUMbcXdlQ4KqnNmqjP9mtC0mdPtb_lcFhuzwAiZL3yX0pp0363Mfby5JsxUVb43EEfPuCpSc6Avv3uTSU2UUHqjqgbxJ8crgagnQ1zFAi8TcLhf-7DAABqRZMK-Mc9OEiD5j7z9eLhgmZ9wyjjsTHz1sd7uXe6i3bz-1XlaASH9rDqvy6gYV5ms_lzE7N6gkItNHmkISP3AEhGYDA=",
  "id": "rs_00c34c0f0ed476e9016ab44f7038c487d08c576bc0d202d5b1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.111,\"left_z\":0.02,\"left_gripper\":1.0},\"note\":\"The overhead view shows the gripper essentially centered over the left bowl despite the wrist camera’s oblique perspective. I’m descending straight down at this corrected radial position to put both open jaws around the bowl.\"}",
  "call_id": "call_Z8X6o9fgp8xkfM0AslxSuwaa",
  "id": "fc_00c34c0f0ed476e9016ab44f71f35487d081b1fa5e06bd2c4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z8X6o9fgp8xkfM0AslxSuwaa",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4834, 1.008, -0.4377, -0.4122, -0.3294, 0.9988, -0.0219, 0.8108, 0.5945, -0.4141, -0.0166, -0.0525, 0.9989]\nstate[eef_state]: left_x=0.375 left_y=-0.1113 left_z=0.1328 left_yaw=0.0358 left_pitch=-0.2435 left_roll=0.1222 left_gripper=0.9988 right_x=0.2898 right_y=0.0002 right_z=0.1641 right_yaw=0.0097 right_pitch=-0.0584 right_roll=-0.0144 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3932, 7.9932, 1.4042, -0.149, 0.105, -0.1343, -0.1026, -1.3197, 7.4462, 1.8779, -0.0513, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:119ad79e49dd8d5a5021387d8c4e6864dc6d7abdef8cdf08160c87329492bdde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0d6c4d63d0b14b7e89f52232c1b4c8b1ecca1dad3ef2cc4f66de94077dc922",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c07b6dc9a74da6b35579f02b5b4b4834c65b6ab4f77982b5a5910f76f8966f9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /responses · status 200 · 2.89 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 23 changed as sent

message 31 changed as sent

message 35 changed as sent

message 23 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.5701, 1.356, 0.7605, -0.3252, -0.4614, -0.3893, 0.9988, -0.0216, 0.8043, 0.5999, -0.3943, -0.0166, -0.0452, 0.999]\nstate[eef_state]: left_x=0.3292 left_y=-0.1134 left_z=0.1006 left_yaw=0.0174 left_pitch=-0.2252 left_roll=0.118 left_gripper=0.9988 right_x=0.293 right_y=0.0002 right_z=0.1723 right_yaw=0.0061 right_pitch=-0.0267 right_roll=-0.0094 right_gripper=0.999\nstate[joint_eff]: [-0.294, -5.5453, 9.0735, 1.7216, -0.0611, 0.1636, -0.1343, -0.1026, -1.4838, 7.0359, 1.7216, -0.0611, -0.0269, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4815, 1.005, -0.432, -0.4126, -0.329, 0.9988, -0.0216, 0.8101, 0.5999, -0.3927, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3753 left_y=-0.1114 left_z=0.1332 left_yaw=0.0353 left_pitch=-0.2394 left_roll=0.1205 left_gripper=0.9988 right_x=0.2935 right_y=0.0002 right_z=0.1711 right_yaw=0.008 right_pitch=-0.031 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -6.2291, 8.1846, 1.3797, -0.1636, 0.1685, -0.1343, -0.1026, -1.4564, 7.0085, 1.7216, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4834, 1.008, -0.4377, -0.4122, -0.3294, 0.9988, -0.0219, 0.8108, 0.5945, -0.4141, -0.0166, -0.0525, 0.9989]\nstate[eef_state]: left_x=0.375 left_y=-0.1113 left_z=0.1328 left_yaw=0.0358 left_pitch=-0.2435 left_roll=0.1222 left_gripper=0.9988 right_x=0.2898 right_y=0.0002 right_z=0.1641 right_yaw=0.0097 right_pitch=-0.0584 right_roll=-0.0144 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3932, 7.9932, 1.4042, -0.149, 0.105, -0.1343, -0.1026, -1.3197, 7.4462, 1.8779, -0.0513, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:119ad79e49dd8d5a5021387d8c4e6864dc6d7abdef8cdf08160c87329492bdde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc0d6c4d63d0b14b7e89f52232c1b4c8b1ecca1dad3ef2cc4f66de94077dc922",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c07b6dc9a74da6b35579f02b5b4b4834c65b6ab4f77982b5a5910f76f8966f9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE93YjJmUwVzz5CRA5R-0he9mhIXWjrmwwTR9aVcffqddT56DGxtyIvDii9jsKzTESjD9GjHSjopnhDnQtQNcaZuTBhets-X1UhJDMn_Rkk6tP0OWYQICSYc99yIB1Fh7DQIwRcASko1bJ2Un4GQI-e542E0Bv6lj7YAMDT-7xj7mrwnRmxNMhQAYsws9FEyc120wVSz6OIhWYfLe8jNQyhBw5CsqahNeDgRjuBNUnrB2CdC_nIDy0cEFTB1y8SV_jAxa9DAjhPRirm7NfsQtUnnBlMyKyI69DCrcKqeC3izn55NN1SnfEqvacQ6Dj3pqQ2yYHPYm24IqPVk1H6tWinHj8cNGsb-z3l_a3_7U77PZNM7Ou1TLiykty5_ubxde5A0lUV-zW0bejiG8v-JJl8dOeU6vbpFZGULuh2cDoU028KJE9XzV290Wq03FU1qnt8dP-GYazZ2pAPhNK-c6JWvGEIMG2pj6NSCRsHzClT3qohkahIufrIdpjAKpLS8dlnx1gsQNApqzvgZQItnf8zlMFKBlveb5Ry4PGkm0-L9HgbBvpuDixZbqEf9zNdWtGnLiGMiYQns9wCHemVp25V8HgwPJ_w5IWJMmBHyXxph5yMpve5hB5u2d6kyFxx4CavwHcnncHJrpfM3Bclt3-rQE35WXuiq35YbeZOszUXP7fX8ME5JaqUx2zVdvnWIJBlnUbd89ICovSZGqsaqgOVY6udTgk-HID7_qhopcJMAbv13nmD-zq9cST9L6aooiK2-44j2oEZV2JvVBdoOUAzQeV068_ehxjVuBdxjBaqXJCdOdGCdWaDzxAa9Ppedp9ajPYKOE2Y1n-CjyDV6r-bFBw16oWFo8Z5QCqT1b5U7fZqAlJSEDe7dLpFpbja3Dk0N6jDmR0JleqTUDidY1kc57iYqCLd9kZtRlfhX5HtaQvDwAWfgldVk7Pb6rSkIE2p3F_7ehdkHPLJWeIPuH7wvqQ4aDRqnPVbSaERmVHOw_tJcYcM12_4clSofjeggikMewNFEK_3AyS3wmNwDxZH7AHkeyHBH_QWH4WjnfRqWVca0fsDrWaBlQ57tgfPsYAA6htTL_cBubHE6FrD5Zmbs0bIyRXioxiI1ksXMRKMmhqbm9Zb2gRMz26QAPAPBOayNUcfwzu11I1Aj7aBBGgLG-pqG5oruDDeOuyuvg5RYLiNKP0e51yzbu8_eMx45K_mhcw1rKzT25e-abqKhACE25qa86pyFLaC5YCbI0IDyzIYHAeYfKMMGHbnWny6zEE19pngeEZqGJP387GBwEVkAEM7HazDw3MNq1QwMYkTkITMQVaY8uMrrHkjKH5x7C_Yggrm6hgFT5qwGM3AlpViy-6haNzZ8GNaH3mWk9gnoksdGrdra8Wq-XJY_wSX1bPo0L8TpAGPBoj55zAG6gcV6P_mXitk94FLRZB6JNq9n0XxT6A1Z36VH0BqerYDrGtPOaYjbCv0wcVaK86IKbtzGV5OJE6UTd8HBCWEbcnJ8HUBLWXSfsRgbTXupWRqa1938SkgKC7xV8jx-eUWKy-94NGN9vwMPi1L9R0q1M0X0iUeJfa8V2GTun8jcWiqqga3f10IPTiQu2K-o3fEZURzd-km0F7kac3uTp9zZV9-hIBNciWa_-kukEkaFoG5gWGbgS5nCKzuyXhJXhdUUCVQpZ6809QnhdGfhnDSplb8BOwtFDM0w2ryaZBKCIx1phIMew3Jxp3yNwxmEKsZ60b1Vf7LVixeEVQqElPjheith4Q2vAt7mxkMGrsQ5cYbAV8OxXd0TMs80Cj_x-L9uFIRy2z0Al7XPVLxFD9uoNdcdinO2oRk9m0U0-A0dvwVUEeDa",
  "id": "rs_00c34c0f0ed476e9016ab44f7596f087d0aad69bfe9baa23a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.37,\"left_y\":-0.111,\"left_z\":0.08,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"The attempted descent did not track at all; the readback shows the wrist had accumulated about 0.24 rad of pitch, making this pose awkward. I’m first straightening the tool and descending only partway, rather than repeating the stalled target.\"}",
  "call_id": "call_7FI0U9x9u6mRe6zPop9UU4ch",
  "id": "fc_00c34c0f0ed476e9016ab44f76dce887d0903862e5f78848a8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7FI0U9x9u6mRe6zPop9UU4ch",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4662, 0.5766, 0.1631, -0.4126, -0.3267, 0.9988, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0525, 0.999]\nstate[eef_state]: left_x=0.3594 left_y=-0.1044 left_z=0.0681 left_yaw=0.0167 left_pitch=-0.0803 left_roll=0.0327 left_gripper=0.9988 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=0.0101 right_pitch=-0.0623 right_roll=-0.0143 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -4.8889, 6.188, 1.8828, -0.1197, 0.105, -0.1343, -0.0205, -1.5521, 6.9812, 1.663, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d21ef7438a1eee1d8820310ffc437125ce97787e8560e64c8acd29d979a4197",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d567888c19c1c226beb3c65e177fa7c7130e50bf420a5683b078810d5286ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd98394747cee52ff758835bed02e3c855da04937a865e71fabd0f1882c12966",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /responses · status 200 · 2.575 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 27 changed as sent

message 35 changed as sent

message 39 changed as sent

message 27 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4866, 1.4746, 0.9707, -0.4099, -0.4164, -0.3511, 0.9988, -0.0219, 0.807, 0.5999, -0.3939, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3707 left_y=-0.1112 left_z=0.1257 left_yaw=0.0444 left_pitch=-0.241 left_roll=0.1102 left_gripper=0.9988 right_x=0.2932 right_y=0.0001 right_z=0.1717 right_yaw=0.0076 right_pitch=-0.0291 right_roll=-0.0122 right_gripper=0.999\nstate[joint_eff]: [0.1299, -5.9829, 8.4718, 1.2234, -0.1245, 0.2857, -0.1343, -0.1846, -1.4974, 6.9949, 1.7363, -0.0611, 0.0073, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4834, 1.008, -0.4377, -0.4122, -0.3294, 0.9988, -0.0219, 0.8108, 0.5945, -0.4141, -0.0166, -0.0525, 0.9989]\nstate[eef_state]: left_x=0.375 left_y=-0.1113 left_z=0.1328 left_yaw=0.0358 left_pitch=-0.2435 left_roll=0.1222 left_gripper=0.9988 right_x=0.2898 right_y=0.0002 right_z=0.1641 right_yaw=0.0097 right_pitch=-0.0584 right_roll=-0.0144 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3932, 7.9932, 1.4042, -0.149, 0.105, -0.1343, -0.1026, -1.3197, 7.4462, 1.8779, -0.0513, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4662, 0.5766, 0.1631, -0.4126, -0.3267, 0.9988, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0525, 0.999]\nstate[eef_state]: left_x=0.3594 left_y=-0.1044 left_z=0.0681 left_yaw=0.0167 left_pitch=-0.0803 left_roll=0.0327 left_gripper=0.9988 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=0.0101 right_pitch=-0.0623 right_roll=-0.0143 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -4.8889, 6.188, 1.8828, -0.1197, 0.105, -0.1343, -0.0205, -1.5521, 6.9812, 1.663, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9d21ef7438a1eee1d8820310ffc437125ce97787e8560e64c8acd29d979a4197",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4d567888c19c1c226beb3c65e177fa7c7130e50bf420a5683b078810d5286ee9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cd98394747cee52ff758835bed02e3c855da04937a865e71fabd0f1882c12966",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE97ypQTBQPF1RYqD6yOpGV1kMxWyvTJrfXf8DK-NlEZaqRQZi-qXCA5C0N7cS4ZGgmYmbja0C2-eKkRb1ft8ZtjGA9NQI7sY65YDxwLVnFRHNe5-d_AmbTh1Fpx6DKfHlO4i2mgWrk2hT16dWn7txAO0PwRVPiubNyPX1ykY6ezI2g4yxwGF_y97pX2UBYc8e8EDdX1ZbHTlxk_GwYLUgbnugjnKOsa5H0zeHVRZDD5dYBdRWd_sLro-7BVDh6OrtODuqTN0Be10JlMYK_DBkF9oxv0wZJx_4ne34ZRrSpac6KzuYxQoeHev-Rj64yEZZJCVi438vXzvnKCFOyWLGfebm1agR-6dT74MlRE6awWnkyuKd16ytYaQOaBBvssujYkhABihjZzQzbWWlPwq_emXLOlUe-laQwleOfnzQb0w8p_5gjVg0l2p3L5_x_reCxb8vEfiSOyos6n1HrXSLtGyCkwvgTqgxXKMETPL6i6ArENyi-2WSvhgsyXBJyw1lklRzvQcfSziNOdGUEBnAsy2ckKIm-A9i58GUdnaz7cJ_9xYRxExyAijpjqK4mu9K9JDsG04ZwOnFE3CE0bw4BfcwQeHZfG5Tx_40_p2eTNAtxYNZZuPtvxHXxdt9Oho9hcfOqChxc--HSOslas_nSNtaZEkC0vPkp63YRqByCQqRLB7YBQiCvQFfvSqyvjg5mfCzINPFVygunFY9SYlEL2YwtOtFHN3kVG4tUa-gfGi_RQLm8PCt1rMgMr1wcF1vbO2hWF9BjURUwKNL37PfqoGHOWg8Rrin0QkECXOSF-ZgRq2ydERZYCiEg6GAOFjSotOORKNsy7pceArCU6J0fBpl5ay2-RzQeEHqbyVVxnT232V0iKk12aDWMyjXPoU9j3nsT-gVyt5u7C1jhDFWDc2siWWtd0vdUjbOt9cqJz-xTjxVAvJqWiCsI7MMil60ijgtP3V8n5QNFdWQ7ELZUK1AFSOgQdqGm8Q_Ov9hB-KwJO_HWy2G7Hpgp-elm04Dph14lVwlQADeOx5qVYidJf5LTsSaRcRJOPlY8wq3lDZkIzX-cYw9Ji-WUcfcO3--yUY5r821yAKYYQZrmC072za3f0A1G5dbjJ3tRkLv7SaTTYOCG8Dm1FGS-3HQNHW2jsptm1BUfnexZ_wOj45QD_V-xoBLHaM0T1LWUmjyOnDIQuYsRBwanqFdPpDRNGgVdbvhxRfRmfh6nX9R3CqU06PcEckDZWSB-S0XGuc90apvgOV4X1FwXY40mAPuYPbPRxXi9Cns4vrhB6YcihQPU9zss0-22akSa2P5l61I7-Ll2hVpSb-zunCCKYpxtIyn0dAVTF1L_2zi6qg3n-seBD96btrSUpQzQLskPiasHbhr5b_ZN1BB7iW-rUfoMA2fn6",
  "id": "rs_00c34c0f0ed476e9016ab44f7a1d5887d091862a9a512a1934",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.375,\"left_y\":-0.111,\"left_z\":0.015,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0},\"note\":\"Straightening the wrist unlocked the motion and brought the gripper down to 6.8 cm, still centered over the bowl. I’m completing the vertical descent while compensating for the small radial retraction seen in the readback.\"}",
  "call_id": "call_djn96c1TY3khAiI8MK3u0ttb",
  "id": "fc_00c34c0f0ed476e9016ab44f7a9dec87d0aa32b6335d78fd20",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_djn96c1TY3khAiI8MK3u0ttb",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.7374, 0.477, 0.5312, -0.4084, -0.3225, 0.9988, -0.0219, 0.8169, 0.5945, -0.4156, -0.0166, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3614 left_y=-0.1049 left_z=0.0028 left_yaw=0.0143 left_pitch=-0.0841 left_roll=0.0349 left_gripper=0.9988 right_x=0.2899 right_y=0.0002 right_z=0.1622 right_yaw=0.0099 right_pitch=-0.0661 right_roll=-0.0145 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.8034, 4.5744, 0.9206, -0.0708, 0.2662, -0.1343, -0.335, -1.5932, 7.0222, 1.6728, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce9633709d26a2938bb4de8fef87541747c77c1f63bb3e92ce7e93a0e114b62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f37ac9ddb3180dffb4820ecf0c2f0a61b739365949294d270b78b852fa074e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc4441cb565abea703cab79d6477e0b0a2031a7ae4b7845cfd70981520d87d9",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /responses · status 200 · 4.32 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 31 changed as sent

message 39 changed as sent

message 43 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4815, 1.005, -0.432, -0.4126, -0.329, 0.9988, -0.0216, 0.8101, 0.5999, -0.3927, -0.0166, -0.0486, 0.999]\nstate[eef_state]: left_x=0.3753 left_y=-0.1114 left_z=0.1332 left_yaw=0.0353 left_pitch=-0.2394 left_roll=0.1205 left_gripper=0.9988 right_x=0.2935 right_y=0.0002 right_z=0.1711 right_yaw=0.008 right_pitch=-0.031 right_roll=-0.0121 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -6.2291, 8.1846, 1.3797, -0.1636, 0.1685, -0.1343, -0.1026, -1.4564, 7.0085, 1.7216, -0.0757, -0.0317, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4662, 0.5766, 0.1631, -0.4126, -0.3267, 0.9988, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0525, 0.999]\nstate[eef_state]: left_x=0.3594 left_y=-0.1044 left_z=0.0681 left_yaw=0.0167 left_pitch=-0.0803 left_roll=0.0327 left_gripper=0.9988 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=0.0101 right_pitch=-0.0623 right_roll=-0.0143 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -4.8889, 6.188, 1.8828, -0.1197, 0.105, -0.1343, -0.0205, -1.5521, 6.9812, 1.663, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.7374, 0.477, 0.5312, -0.4084, -0.3225, 0.9988, -0.0219, 0.8169, 0.5945, -0.4156, -0.0166, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3614 left_y=-0.1049 left_z=0.0028 left_yaw=0.0143 left_pitch=-0.0841 left_roll=0.0349 left_gripper=0.9988 right_x=0.2899 right_y=0.0002 right_z=0.1622 right_yaw=0.0099 right_pitch=-0.0661 right_roll=-0.0145 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.8034, 4.5744, 0.9206, -0.0708, 0.2662, -0.1343, -0.335, -1.5932, 7.0222, 1.6728, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cce9633709d26a2938bb4de8fef87541747c77c1f63bb3e92ce7e93a0e114b62",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:45f37ac9ddb3180dffb4820ecf0c2f0a61b739365949294d270b78b852fa074e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dc4441cb565abea703cab79d6477e0b0a2031a7ae4b7845cfd70981520d87d9",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE9-y7hUIkRSuYsnjW0IwHrythp0_COBNVaHavBxn5IDSjrXb46DzVsawdDB2iPZ9X6imbouH3N8S4YWf6WwBT0Gez0UDvPRaTqf38coYscr6m6MaXwT34cESVBGHpLGLhJi5SlWK8gvCRREOWmMjcpTbipKuAt_y9BaQvVLvsAw92PixWXCe0T47VXnywtZEqu-HVJoo8gkUPKUGWL6qNv9ZhUcUwuJS-Iidza49mI2blQKnOmMxE2QpB0y56xF4BdSBv-0kc--PKtRFg_d7VJ38leCx2tATKK272tV9c27AyF5IsuDn_-FwaWlBUMEMPqTt0Az-LsUrLyh2DYkvDsDSHtRT0irWPoyAMJRRNqxB4w4qZrzTzdmltozfERGdKkTaK0gGEdYmovZfrr2LlRQHjhKYBytkvMI_B68ypMhfEl9cLSUBf3SawV7_hi950deqahj7Cle4N0swn8I2VMOlGrKB3zAnpDebBqERqBsMMh2cpIak5xma_4n5NgVaJui1sret0PC_xyzIbUrGfxPTJdHFvl8XADCqH9exIlygfhLsr143p7R64E6QloTMwCzmW9r5rJv80HJZ4m434C8Uo2n5zZoVPI4s1SMWvh75BQCjowIl294ng6nmmbW7lisPnfVcFSz-gfNX9xRkJ9xjm9qafV86nw58evx-Dw16zs9jpzV2RLkCqEbfGf4wvxdyWOflFpcZwPFS5cH_agHUUyij7i26HZqftgkLcK9cyCiT2GtKumWJ8a4FZic6JmoHHfdpUSYhh4LQEAwyQtfrpdBErvQMJyHdzDGj6gR2-Hsy6FcmPlvOmGK1aQgk-fbDiT9tV-QBWiXOmaJQn5M9uwLaI_buRagKGMcgNkuT-XKk-VFU2VPoMy04LF_p3BJONsEkJx5p-UboCJ4vXin9wdPbuq_tFGfnSKpdn0UowEyY3dq1VMkUckkEHopiJeQYKVVkJOCpa5hgx6AWaY4vbg_H2UpfbznscKWeG4S_XiKqZWKBZmelcNJNlCNxaAUNGXWyXJPHr7Kfsx_G8nfEX7E04JZFHHZpv7i0Q0QQXvyx9IgJtjnyvMGVSn1UNscYXG9RiE9A2YBlG2atyhl-qF5FsQZDxtA9tT8EhUdX-EM5xYf4k9u70NulWMbmK1tZctsZRLzOVHbzazl-Kawh7-d4KpDbBcLsLcmpQfc-1REPZhB-fTIf5o4BzbrB33bvvAfhYLY23wWDvC-AR7XZNdlZufrecQFDFI5y2xrXBLUrZM7CaaeK10ckWSuop__iwn7NcydN91ZAWkKZS9GMvSUU819f7g0-D4Gm9WJ7hw=",
  "id": "rs_00c34c0f0ed476e9016ab44f7d7b8c87d0a6c7f74c75558ee3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0.0},\"note\":\"The grasp point is now at table level with the open jaws straddling the bowl in the overhead view. I’m closing for the second grasp attempt and will verify by jaw width and a short lift.\"}",
  "call_id": "call_EHpraqxA4BARLeReF67QxnZn",
  "id": "fc_00c34c0f0ed476e9016ab44f7ddb9c87d0b29b8bf64cd1f3bc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_EHpraqxA4BARLeReF67QxnZn",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4831, 1.7145, 0.4938, 0.627, -0.4129, -0.3477, 0.0396, -0.0219, 0.8181, 0.5945, -0.4179, -0.0162, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3804 left_y=-0.1155 left_z=0.0341 left_yaw=0.0267 left_pitch=0.0361 left_roll=-0.0486 left_gripper=0.0396 right_x=0.2896 right_y=0.0001 right_z=0.1614 right_yaw=0.0096 right_pitch=-0.0695 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1026, -4.6701, 3.6034, 0.9206, -0.1294, 0.1343, 0.862, -0.0479, -0.8684, 6.9949, 1.6825, -0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b707fccd27e50f84b2c6ecf9f48a15697634ec27276c3989f9cc0d61afe7055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba411b331ee8650e26486c51ef7f2c7b2ad8fd50d1ad9e6bfedf6f92faf06d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e5c525c5f2e696129dca308d58a9dfd220fa5d0cd366fb33079699783c8b9e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /responses · status 200 · 5.758 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 35 changed as sent

message 43 changed as sent

message 47 changed as sent

message 35 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.4834, 1.008, -0.4377, -0.4122, -0.3294, 0.9988, -0.0219, 0.8108, 0.5945, -0.4141, -0.0166, -0.0525, 0.9989]\nstate[eef_state]: left_x=0.375 left_y=-0.1113 left_z=0.1328 left_yaw=0.0358 left_pitch=-0.2435 left_roll=0.1222 left_gripper=0.9988 right_x=0.2898 right_y=0.0002 right_z=0.1641 right_yaw=0.0097 right_pitch=-0.0584 right_roll=-0.0144 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -6.3932, 7.9932, 1.4042, -0.149, 0.105, -0.1343, -0.1026, -1.3197, 7.4462, 1.8779, -0.0513, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.7374, 0.477, 0.5312, -0.4084, -0.3225, 0.9988, -0.0219, 0.8169, 0.5945, -0.4156, -0.0166, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3614 left_y=-0.1049 left_z=0.0028 left_yaw=0.0143 left_pitch=-0.0841 left_roll=0.0349 left_gripper=0.9988 right_x=0.2899 right_y=0.0002 right_z=0.1622 right_yaw=0.0099 right_pitch=-0.0661 right_roll=-0.0145 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.8034, 4.5744, 0.9206, -0.0708, 0.2662, -0.1343, -0.335, -1.5932, 7.0222, 1.6728, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4831, 1.7145, 0.4938, 0.627, -0.4129, -0.3477, 0.0396, -0.0219, 0.8181, 0.5945, -0.4179, -0.0162, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3804 left_y=-0.1155 left_z=0.0341 left_yaw=0.0267 left_pitch=0.0361 left_roll=-0.0486 left_gripper=0.0396 right_x=0.2896 right_y=0.0001 right_z=0.1614 right_yaw=0.0096 right_pitch=-0.0695 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1026, -4.6701, 3.6034, 0.9206, -0.1294, 0.1343, 0.862, -0.0479, -0.8684, 6.9949, 1.6825, -0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b707fccd27e50f84b2c6ecf9f48a15697634ec27276c3989f9cc0d61afe7055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fba411b331ee8650e26486c51ef7f2c7b2ad8fd50d1ad9e6bfedf6f92faf06d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29e5c525c5f2e696129dca308d58a9dfd220fa5d0cd366fb33079699783c8b9e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-DodA1qlTroYYAiiWhS4RBFb9n8II9S2iOTwf4MzmYwXhuXdRSR-7h7jyWBJDVvZCHwUBIU6_4WQ2k6e7QY1Ji1edJMQUW3HAkLth6aMxrHu-TQ2PVyv4hKbxkVZ7t-DPiIvxG3dRTddLqalW6PaVGQ6KRe4dpuLDGgwKVPFoTT_bsauDWdHZZ4q75_Jft_BvaU7whb2dlNcLWN7Y6BprH4yD8jbzJlgJM9R_O7Uf7q9oe2sTHJmHC9-IqV55atlE2t6MFcFKGNUzQdgcje8wRTCCxPAdgoRan4PePHBE2Fz0o0MDM7ZauIBoMY_7-abPtqOKKwBcafwad0lE51zj6nvGny2fauHucMGABWXUimnKFuzx7ZfahJlI7d8F5UwHidySQlzX7xIu3NsEPBZEreIbQh3ochY_WRCwxrfV6vM6hHA7yRv3-OXio2pqW-Q8FztgIJtKj4qp7rcDr5p9KXC2Ygj06UCElgdSKoh8653uwadDy51ITvxdE-sqfhtVj5cEvcYhawu_HWzAn1JfMGJ1v4z0VD6o4_Yw9usm_bdxsGw6G8027_mwqNcFXbmqHzVtcqGEzCKGucNnkDxIQIIFMDysfJydO37IXx8K9tDKIksQngfxY1QFrjKtIl41fb3GGpxjNHqvxYRtf-pqtXZeY8W_yWIb5yrCZ8RLrHLj17KQM0XfvK9pHm0ZDFKPLOzz0WsS_58EfzK9f02s87BvTqD_QvKr1m_rRwR9DILOUtwfVNSW4PgldeA6wjKseNbu1JiHkFQ4lMbFqEm5hxBnwfiHyW3I9XCPCgBLvnDS_TwNNRjtx_nX66yq4nCrOFGEYise8WE1cr4ZibBK5QAb26GbHb9snM1FsUbGMUjOcfYiIEtXjPGo16Q_a0TQZiw_OwhJz-vmXV0OHbIhVbnu1KazuIKCxFwBLSFl64yClCLP3j7rluVVdIWBGW9UlNnwqWSy7IySAwx_bp640DweqtlwOUgNepaeqq6_c0HhF-OTnp46FkvOJDfJXKWOvHzohAN_JwvdjcEqOtVmOt6ItqLYcYwbblSEt5oMub8jx5ltmiirScDutKYl4sDzueZKmwzHr2GfdCBtPlo-Mjn6Hm4Zz_i_5QsDbdqdBRxaed-Fywax7-6OASDZ3Me8SUePLaWvK7yUD3e7fsiS7BruRLxl499HlOI75J2jtVkEBCvSkXBs118Z-jnG9Z_Yj_LSnB7nqPC71pgSqxR_hNvZbFWBKtJJnd0nml7-ZgU1VY6XZWUiCvJ5GIAmTzreM4_qBqLyDtBhoTqodGWE1ApWL1eaKhXUmrhXpL0BdcAHOn_fy1WSjwcw8Q1tXbgTl2CDf-3e9kRx-gf6e28TcsfECiq9MaMw-HLQhNYxp9TspWaIB_UJH5MMQInj6vQIRPlGcosEAm0DxKT3r-p_38-trNFH8Ov7HXnXszglcQgzCmJecAbpgmPF-PQS6wyGW8NrVJfyUYhvkTgGsjAEKx5aw1TRDRr2-M9Vj_eTkUHCl6F2xNjeYTlanamSHpFoi5VotEl0ZXn871d7COBjUT3wczMjJtmdTITRZ40W1TKPqqyDsd1abaDMHuO7OSsFU1CcE5m6_UggJG4VsSw9s4hZuWqEpAg4q754TLslsPQ-RSSxzpBVypCq5nC8dQj6q2tqvUFnN3YgfpNOteC3hfZkaafwHa_wQY__n1xws_kCEJc3H1jlRYr00gJXncyXFwRR_uDXPqpyEsKv_yEsRdhmd8tp6MWmuirNlw3SoEWJEc40EBhZf_hJYpyKfAYtqEne_mbcG7oxiGjV1VYAMkR805qYYixEZZ1ljoWAl1LybVGkWhfp0_18KI-XJVcYha2w2KS19VTXiCNQ9qAX1hAXtgxrT98yhtcA2rQRnahT220TKkqlBgsPyo5O5EJSaX0CAntmUydAJfX3KyBpK7h6vYtu94IyRZ-ImzZYWCzvpD1TacdN6ttl5vvUnND34ge2oGmg8-cHaLiIqCQhYsQ==",
  "id": "rs_00c34c0f0ed476e9016ab44f80829887d0820189855fd20857",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0},\"note\":\"The gripper stopped at about 0.04, which is borderline for an empty close but could represent a thin bowl wall rather than an exterior-diameter grasp. I’m lifting 6 cm to determine conclusively from the overhead view whether the bowl comes with the jaws.\"}",
  "call_id": "call_7iQZR79Vmzixp70qnQnkrvo8",
  "id": "fc_00c34c0f0ed476e9016ab44f8218f487d0b59f773f10859244",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7iQZR79Vmzixp70qnQnkrvo8",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4948, 0.6056, 0.2687, -0.4126, -0.3363, 0.0401, -0.0219, 0.8192, 0.5945, -0.4191, -0.0166, -0.0532, 0.999]\nstate[eef_state]: left_x=0.3797 left_y=-0.115 left_z=0.0881 left_yaw=0.0202 left_pitch=0.0128 left_roll=-0.0261 left_gripper=0.0401 right_x=0.2895 right_y=0.0002 right_z=0.1609 right_yaw=0.0101 right_pitch=-0.0718 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1709, -7.159, 8.5675, 1.7705, -0.0513, 0.2759, 1.0281, -0.1026, -1.4838, 6.9949, 1.6581, -0.0708, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8f504a92c22f548247b8e3d0b36337b7f1e06ce9f51e2e577b4c3cefc7a1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5920a793f0f87cb81883c38e5bc3c772674983be765ce1eb874a042399fcf20d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c682a33912e81049d71ab2ed5066fdb12924950597e467ed137b5ca45eea82d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /responses · status 200 · 3.506 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 39 changed as sent

message 47 changed as sent

message 51 changed as sent

message 39 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4662, 0.5766, 0.1631, -0.4126, -0.3267, 0.9988, -0.0216, 0.8135, 0.5945, -0.4152, -0.0166, -0.0525, 0.999]\nstate[eef_state]: left_x=0.3594 left_y=-0.1044 left_z=0.0681 left_yaw=0.0167 left_pitch=-0.0803 left_roll=0.0327 left_gripper=0.9988 right_x=0.2898 right_y=0.0003 right_z=0.1632 right_yaw=0.0101 right_pitch=-0.0623 right_roll=-0.0143 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -4.8889, 6.188, 1.8828, -0.1197, 0.105, -0.1343, -0.0205, -1.5521, 6.9812, 1.663, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4831, 1.7145, 0.4938, 0.627, -0.4129, -0.3477, 0.0396, -0.0219, 0.8181, 0.5945, -0.4179, -0.0162, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3804 left_y=-0.1155 left_z=0.0341 left_yaw=0.0267 left_pitch=0.0361 left_roll=-0.0486 left_gripper=0.0396 right_x=0.2896 right_y=0.0001 right_z=0.1614 right_yaw=0.0096 right_pitch=-0.0695 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1026, -4.6701, 3.6034, 0.9206, -0.1294, 0.1343, 0.862, -0.0479, -0.8684, 6.9949, 1.6825, -0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4948, 0.6056, 0.2687, -0.4126, -0.3363, 0.0401, -0.0219, 0.8192, 0.5945, -0.4191, -0.0166, -0.0532, 0.999]\nstate[eef_state]: left_x=0.3797 left_y=-0.115 left_z=0.0881 left_yaw=0.0202 left_pitch=0.0128 left_roll=-0.0261 left_gripper=0.0401 right_x=0.2895 right_y=0.0002 right_z=0.1609 right_yaw=0.0101 right_pitch=-0.0718 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1709, -7.159, 8.5675, 1.7705, -0.0513, 0.2759, 1.0281, -0.1026, -1.4838, 6.9949, 1.6581, -0.0708, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c8f504a92c22f548247b8e3d0b36337b7f1e06ce9f51e2e577b4c3cefc7a1a4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5920a793f0f87cb81883c38e5bc3c772674983be765ce1eb874a042399fcf20d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c682a33912e81049d71ab2ed5066fdb12924950597e467ed137b5ca45eea82d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-KTQbhlTAUP5syLucdh70b3GhrbPbnaZU4L-UoZxaiXnlHJrYovLca12fHHoQ-jJuaFLzP3g9HWwctaBmonGl_biFdKFhWLD2Q9z3IvrKVSyCNfLE67FIV__9ShPi0FYRpOliiSkS3eNAQJRv4QWLpjDdcGKbwXPOn15yPsZ8FJkJacv75IyYCrVwPhvjRRdBZNymJzpu_hhBs6BXU4agAaxvoMvwy_mxPX_nHkP4Vi8CHGVJz18U7IHxamhjd0Wkdw1VOvnsJqZCnYIHvhM8EqGdebB6vskRy2JyHvqXA0_xvoodpZlV1TOaiy-d3AHTkmZKyLcBMW3at4SN2WrtFyd6_y__eV4uXJ68c1AY6mT0orq4p_dr6iHRES-llEhoDg8BkRGQ5SVIEJk0uIEEV97lpR_xPLMohG1u8NmAPSmoINUwz66CuuxBQ8phoEBKORU0tvri7onfmpJmD5jn8MmBU1ehHwTjId8VYG-G8IoYTMzqcuhXDP28gdtOa890lnBifm7tAFS-v7e4w4cRvShQTwjNY4lV4KCATGXY_vf9mxL47PcjNBlCdAmnwNWp84PiiTvU6CqHK6S8W5oR5Ul5gDuTrh4UWpRYGQDWWb9ptAneZaaoNnl0dXPeXO-HVb6lPOuQMypME1hhYoR4JM6ATwOKnun3jf5RSH0MI5MCZv8zU6R2TkDST9eLoZ0ryIpBTtm5_uhqNq_qdxMpmhTF8ego2K_SVecOwv3N4yfySBHCWh2R4W9gzSebb9d3FrcY9_n-PC_D-YQYbzJinrvqdnQ4pbpdIZOTojq3oH2Evr8Ulzw2m3Q2GgOAroTVCYnNVZTd9bTeZGBToTGENRuCZixJg47EBthXkJGcbtHDi5OOjiF-KNuTHQfj32TDqQV4_aWuqyvz6XJqWFhtc7pybAtElJTBXTezhhDKhMlnLQErXasjBgP7jxIOoIeMCAzpfvERdsiO8cMA_VnjE7tB7dTFiazCLj7ID4QZgk-AuqZMCrDcY_1mnLnn84p-uIqIWyIJ1QLUdIrN6TZbqJg9acE9_dqR6k3S2HZYtxqa5IRmswNpnAA-tCTY6Moqc7KtAvQz9yNKRK7wH57SixgsEFqMccnxFS7T2-kAGNyhRZY2HuKhk3pVS3kEwND2gbmSM0zVp7vSyb9EECC8kjnAfv4SVopZFWw1miFwQb5hKzGDoDwt8-TY-JDFW0cxM6c7EaTnq_S0UI8NqQ1v-VeDD4UQ16SqOIPmEsVU7lodnXSFb2NxzR6XVuzCih1h9Nf-Q2eWgxoDaXM2kUN9jZ3xJ8zU5zBfZSUy5ze6OrZSslRBBwpGih1A11i54xQ4-szC9rWjWJnG-0L7TqKaJV2qdFqpHVyrCpjmZfPE6jDoQYMqz3Ccpe7jJLUxPllBU23LPWSPeKHR6Ge2u5bUTgECBdi3-l-E2m_l-eExedtKNsyzOwpKT9mnFczg6YVZ_WdhMEQjPQVkXbFnOV9Hsi9Of3DI14RIoBr5ndSrkJ3vnr4xbhl0eHiYKS-zElx1NqGixZG6P8pCLkiMyoF0rfyBvTBUE_w1KPRYcJvGw3LG79s2Ec0hFOU09I-neqaBgX1ytXUR1zZm86ByyKzAHisKbMIUwbe7ZlPvHXyTx5TEHGU6iq2NQDA9DsXL69WoB5uC5UtNFPpJBu_4V3iID0Z44b7nVNDpo7LETiwzjil9-ZJ7fKCj47MdiSXqwrMczo35Fk5zJ7XlohexaIAihD2wRxPNYgKZdF_4csOLYN8TIOCnpKgEMbFNZDplb4i0ULc0DwS5nWjFtQGKYpt6DpULop5giGF5DynhLb8jcEQggjTdQN5hDRZmrLulN0Bv5aUiLBkqxC_zYNhQpRRTjpMw2MR0GV134qbKbJI6Th4YJpjH1jgCr0rRGQDJgiajzGDg2HVXdeKlTHrTV9B0BJv8ySgdqjltwsNFVX6i-3AurblHP0FMl8D_0UgNoAoU4QvjVXCWvtnbj-A8XoV_3cnsMBsZCk_w7wASuwhNipXhUH2cRHJ-J6QM_rC8DN4deOqIzzDb31An6PdhuA0nL-9AlfasOBeW00Q1Yojc7oxCbkqURgzWTMEky36JGHcJUlr0aMmGLVh_l1rMEqSRkxJ3yQduVg67VJCx9nVjKVXZw0G-1orm2_osYdALEksYVVgOpPJ6kBOsarTT1auskvxF1B8tTmMvCMznowSl8OfkgkkKabQ_45Ak-dSBleF8kieghWNmkNr67ZF5IzGb2Gnr5Bs4OyYhYWwqZGOspVszqqiNtnsvJp-SClraZL4Z-PrUBeHuGLDcdTMFgJTub8mJiVKHhXRxHmJOoKNoab_QuQ1L_LnkIvNeTbB-z4Qx64jMGOg55wUu8SNEEEO1sODUC3pVC6r36D_9CDcBnHMisO27NhnakafFrSwj9anOMMF_STMtzPMUVstkSni94KsipmT0EVV6WI5c3O01jZSeSXkjSt60HFKpamey0yHORVJOKtK3c8ojlpU5sJhtf9hbPIxbYOorLIyYbu96SHyWG7l-jtmW6gtplWiId5c-OKyxoIpko6b3LYUvJeMXuRPzHueRJ_6g0o7C8ZPmkHia8IZWjC4U3XjbIFpnXa0imTMRNCHk6ibyNuWxHe2Uo2Hv03q6EmXYHFDOBJ5xtlloMzE7OYjRMmJANN6fj-iOPHil9j8VE8tSj-0hsp5_ahC-W7VDLWaC0LV7C-OQnA-5XKJoiQko8ApR4PAG6NfHueATN_WP0YasYlHPNbhtamIY9nFNZFkrwLBCxqYGL60Km2osOCCS-l4gHN5KZUrMyd_yQULTx9QblSRjbb3vVjAaRJ4FRfq6jFgS1CexYzhgIw7esyX-TfMNDW6Shrs8Y0t8K6w5jeYZ0Pb4sziUkLWSqiydz8288QRBWZZ1bEh-Z9Bfs3ILZHbe5af2P2TjIUbauU_kBFODgxwSvtqrm3OQifcjWaupb3vanfbwwhSfReNolZHkl9fewQym10RtP9gtiPLFaEYmXLAp1mk_QLx39QWHhE38UMJbqL-zZo2qHmaBlcm2iZXMOa0HlEGjtZWDVcA3vLl3EOiZg5m_1TKbZC7tYJGHsYt-ufV5JnxixxUULlHRSubOMXodzjhEbX0a_xXI7EU0C85D-_3wIkgSYNWNu80u5t_hHI0LQp9Mo6Sx6tLo2hwPDGNJSgem0y0oGun0rK4rPS13VDq80RYNVVqBqhSLg1WWUC0w4Snl6SF2eW0ESfESou_E2BTvR",
  "id": "rs_00c34c0f0ed476e9016ab44f855a8087d09462e6513a301fb8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.294,\"left_y\":0.0,\"left_z\":0.18,\"left_yaw\":0.0,\"left_pitch\":0.0,\"left_roll\":0.0,\"left_gripper\":1.0,\"right_x\":0.34,\"right_y\":0.1,\"right_z\":0.14,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The left bowl remains visible in its own wrist camera after the lift, proving it was not captured, so I’m ending that approach after two misses. I’m parking the left arm and moving the right arm above the clearly visible right bowl for a fresh, better-aligned grasp.\"}",
  "call_id": "call_glFzdnX3KQUzkQKlD9eFbRCS",
  "id": "fc_00c34c0f0ed476e9016ab44f88b84087d096000ef7c68b8c62",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_glFzdnX3KQUzkQKlD9eFbRCS",
  "output": [
    {
      "text": "executing move_to over 11 steps (1.1s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4599, 1.4376, 0.585, 0.1989, -0.3931, -0.3241, 0.9956, 0.4561, 1.1744, 0.5819, -0.12, 0.3408, 0.2104, 0.999]\nstate[eef_state]: left_x=0.3691 left_y=-0.1033 left_z=0.087 left_yaw=0.0208 left_pitch=-0.0219 left_roll=-0.0104 left_gripper=0.9956 right_x=0.3242 right_y=0.0973 right_z=0.114 right_yaw=0.0454 right_pitch=-0.0923 right_roll=-0.038 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -6.8308, 5.9556, 1.8193, -0.1783, 0.0415, -0.1636, 0.1436, -4.0684, 10.1812, 1.9267, 0.3297, 0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dca6fedcf8c2dcd1f33b7d7bf9588ad63f2eada3fe07237badf8a7672cbd117",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d16d7de9f54992df4ce950bcd99689e79748e8c3ca13bce80b3d00720ffccd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec574be640f06196a0992e04043b371eb1b94d6f23be681bf4c134313967be71",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 2.622 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 43 changed as sent

message 51 changed as sent

message 55 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4797, 1.7374, 0.477, 0.5312, -0.4084, -0.3225, 0.9988, -0.0219, 0.8169, 0.5945, -0.4156, -0.0166, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3614 left_y=-0.1049 left_z=0.0028 left_yaw=0.0143 left_pitch=-0.0841 left_roll=0.0349 left_gripper=0.9988 right_x=0.2899 right_y=0.0002 right_z=0.1622 right_yaw=0.0099 right_pitch=-0.0661 right_roll=-0.0145 right_gripper=0.999\nstate[joint_eff]: [0.7179, -6.8034, 4.5744, 0.9206, -0.0708, 0.2662, -0.1343, -0.335, -1.5932, 7.0222, 1.6728, -0.0366, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4948, 0.6056, 0.2687, -0.4126, -0.3363, 0.0401, -0.0219, 0.8192, 0.5945, -0.4191, -0.0166, -0.0532, 0.999]\nstate[eef_state]: left_x=0.3797 left_y=-0.115 left_z=0.0881 left_yaw=0.0202 left_pitch=0.0128 left_roll=-0.0261 left_gripper=0.0401 right_x=0.2895 right_y=0.0002 right_z=0.1609 right_yaw=0.0101 right_pitch=-0.0718 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1709, -7.159, 8.5675, 1.7705, -0.0513, 0.2759, 1.0281, -0.1026, -1.4838, 6.9949, 1.6581, -0.0708, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4599, 1.4376, 0.585, 0.1989, -0.3931, -0.3241, 0.9956, 0.4561, 1.1744, 0.5819, -0.12, 0.3408, 0.2104, 0.999]\nstate[eef_state]: left_x=0.3691 left_y=-0.1033 left_z=0.087 left_yaw=0.0208 left_pitch=-0.0219 left_roll=-0.0104 left_gripper=0.9956 right_x=0.3242 right_y=0.0973 right_z=0.114 right_yaw=0.0454 right_pitch=-0.0923 right_roll=-0.038 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -6.8308, 5.9556, 1.8193, -0.1783, 0.0415, -0.1636, 0.1436, -4.0684, 10.1812, 1.9267, 0.3297, 0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4dca6fedcf8c2dcd1f33b7d7bf9588ad63f2eada3fe07237badf8a7672cbd117",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7d16d7de9f54992df4ce950bcd99689e79748e8c3ca13bce80b3d00720ffccd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec574be640f06196a0992e04043b371eb1b94d6f23be681bf4c134313967be71",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-OG77-ZzEE3lPlpwu0oMSwxLKyQmuOKXzUECwUxwGzSs-TnPWqnwp50XzrnAoCZOZN5-v4TwuTMjza1EU_jWb3CT6aJ35YvrrLmuSaxD5bOBCOY92iiFaC0nSKyZSNHBBrRYW8NxjA6exVT8o6UCmZClyRAvJIIwqLht0fmVvpi9Crekny1cGR-UQlCmJxUOJYXJektmzVldhmor5ffXte8zb8KrIPDW-C7NH-hp01KPz7FhDwrvGm40VTMft3nreJ5JrXIsvG3F_es-_Y_KBi39joW8zcIQkqOMMAwXFF9sYXNqad_loJU2rs88Nee3IaBYqtU_akQWSjXzcRtBC2VNs1YRvIp2JhAveJih4jytyx1Lg6FaZ2S6RqARQp6SVOJWGld8Y3ocKraikDxBPXsSUcPEqRRHVdxUgj0fzYdK-01ZNxrZf9ySJWhZ9CuwOQ5-qopCfuHOPGc9FA_zSplJImEfS82UrmVaQGLwDrLBBaYfe-vP2dCQv7Q12p6cU91KW5IU45qbct_w8Jb2TdQBP1lb6vrG-lG8JRmjmLPEQx7RKiiPiSscxdoWY0XEAh9pW6klGDLAWOoRlE6clhnYUtDKz8-dasf3j90OItcyFLyUQxStXBWHaGocAuA9t29gWE0WD-jzuXy_C-XH7gn6H_2f2GBpohxbw5ZC8jo_0Lmhv2nlVl8Hp-SAEOfu5lmgzgDtMPXTFzJ73jMifv2FUBSFyv53zek6bCP_sPqoDBDJKWCxp-y5T_Yw-9IEM3s-d8TNgnKdEXJC78TUCGLAsdILwjMGPNhme2M_J61hlZhvbdJ4RUEdumIsk_TspoWykHY95AplziFY0TMXDd9A3LUX7MVhPwMYKi8ZmWkSWYO_ePJoo_FQbOK0_XqrFVPdg8GNXBpzmYVUFII2b6YyY3wVCgVnNXgJsC5bsH5FnJpf_vMVm0E1JIUjUrwdDK66jXU75ORmppAIVouWsOGe9uVO_6NnXbCcrooQ9ozRUcC_zlSlMZRLVMFNEl5NbzJ47wfwiwK1quvzSebq2zfxYxy1nl5SRXZe7xWlCeDZ1aHlcufTT7dZxKrDVaGrKKZTSD9L5CKM2pom5-dI4dHHciDSJPjpbWM2Btmjb77NI-ookHBfiFpuMy7NxP7oaUzJUAy1L5dTdG9FHJ_VjbocSTQXVT_YeWW31mGtvSdLUbYhLjsHUhJAHuyLHEXRt7q2PTnJ2XeDVFZE82sAsQYBlW472CdDUBA0FqsRXKODy1Kr_OAgPeyHtG5vPiQWd-tZLSsLhQUIx6isbdDkZMVjCgHXJULrr2KTAAvg-8E5WQl4ur3eBCIcH70LXQ9bokUpSDCAnSc06P_525ibgi0v4qq7QqtACFJKepa-A0HtiBg-UanqZ-V2yJsQYLj0ucG4qRrHo8M3n3mh3MuwftS4lzKJNE0vI6evOiYowauoU3BoWjUWcJp9Rf8Co5Hcu50J321XvZUhKbLV492xf4Oi8MkgD87kD5DdyBYS_m_8HD8asXHVbpmxzYDrBSapCkq5cez6lfmsnZ7TcYBwBKxpKcRof4qCeap_yko55kkoYqhmpot63T4tlh0Td8YGho6Yp-YXgBeEksjq9nIM5CL2UZjD-0y7h8bmbwHd1elUwHnr8AQ_Q93OwO2jWqB5fr9tkeGWo5R0QMjL1DrQ_3mtbCxDqlPglhJ845eL1GbP7da8vu8QB7BYoPdEi4FvghdxJD6L2ADPFFyCfKGv-ghUz3xUcLBItyIGqbiosocXB1PCCzm-6WvZ6w8i8JIVOGAReqptsb6i7eVR9lrDo0WW2Squyyif2qPmUhmZMaqdh31cQVPGi1p0-cfvlMB0ivns7XlR9NoH9rX4PrxCEdl20WifR4uuYnsPmMom6c1IO4XE_JAsNdQYqwSHz_wJuk",
  "id": "rs_00c34c0f0ed476e9016ab44f8c22cc87d0992f57f5ae3785cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.324,\"right_y\":0.097,\"right_z\":0.05,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The right bowl is centered on the jaw column and already extends between both open fingertips, while the overhead view confirms the arm is directly over it. I’m straightening the wrist and descending partway to preserve this alignment.\"}",
  "call_id": "call_DUkysHLC0Q7cBLIjcZZCv4wx",
  "id": "fc_00c34c0f0ed476e9016ab44f8d567487d083d12eb4ce0838eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DUkysHLC0Q7cBLIjcZZCv4wx",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.45, 1.4406, 0.5442, 0.1818, -0.3496, -0.297, 0.9958, 0.4847, 1.3705, 0.337, 0.2699, 0.3729, 0.2401, 0.999]\nstate[eef_state]: left_x=0.3556 left_y=-0.1006 left_z=0.0653 left_yaw=-0.0176 left_pitch=-0.089 left_roll=0.0138 left_gripper=0.9958 right_x=0.3061 right_y=0.0925 right_z=0.0289 right_yaw=0.0295 right_pitch=-0.1289 right_roll=-0.0561 right_gripper=0.999\nstate[joint_eff]: [1.2786, -5.5863, 9.4974, 1.746, -0.5592, -0.1832, 0.0073, 0.3487, -4.7521, 5.8872, 1.8632, 0.3004, 0.1294, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c25579245e52443c828f992ad3174c2de60fdaf176c0a5e4c7a96ca8b0fa0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c88fbaf54fe38f73eb92542118ed46960010fa533a177415db07e8a3e9f5291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98a090acb883790041664a78b9c4ffbfe8bc3648d7bbcec63277be5195442b6",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 5.545 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 47 changed as sent

message 55 changed as sent

message 59 changed as sent

message 47 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4831, 1.7145, 0.4938, 0.627, -0.4129, -0.3477, 0.0396, -0.0219, 0.8181, 0.5945, -0.4179, -0.0162, -0.0528, 0.999]\nstate[eef_state]: left_x=0.3804 left_y=-0.1155 left_z=0.0341 left_yaw=0.0267 left_pitch=0.0361 left_roll=-0.0486 left_gripper=0.0396 right_x=0.2896 right_y=0.0001 right_z=0.1614 right_yaw=0.0096 right_pitch=-0.0695 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1026, -4.6701, 3.6034, 0.9206, -0.1294, 0.1343, 0.862, -0.0479, -0.8684, 6.9949, 1.6825, -0.0317, -0.0269, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4599, 1.4376, 0.585, 0.1989, -0.3931, -0.3241, 0.9956, 0.4561, 1.1744, 0.5819, -0.12, 0.3408, 0.2104, 0.999]\nstate[eef_state]: left_x=0.3691 left_y=-0.1033 left_z=0.087 left_yaw=0.0208 left_pitch=-0.0219 left_roll=-0.0104 left_gripper=0.9956 right_x=0.3242 right_y=0.0973 right_z=0.114 right_yaw=0.0454 right_pitch=-0.0923 right_roll=-0.038 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -6.8308, 5.9556, 1.8193, -0.1783, 0.0415, -0.1636, 0.1436, -4.0684, 10.1812, 1.9267, 0.3297, 0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.45, 1.4406, 0.5442, 0.1818, -0.3496, -0.297, 0.9958, 0.4847, 1.3705, 0.337, 0.2699, 0.3729, 0.2401, 0.999]\nstate[eef_state]: left_x=0.3556 left_y=-0.1006 left_z=0.0653 left_yaw=-0.0176 left_pitch=-0.089 left_roll=0.0138 left_gripper=0.9958 right_x=0.3061 right_y=0.0925 right_z=0.0289 right_yaw=0.0295 right_pitch=-0.1289 right_roll=-0.0561 right_gripper=0.999\nstate[joint_eff]: [1.2786, -5.5863, 9.4974, 1.746, -0.5592, -0.1832, 0.0073, 0.3487, -4.7521, 5.8872, 1.8632, 0.3004, 0.1294, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c25579245e52443c828f992ad3174c2de60fdaf176c0a5e4c7a96ca8b0fa0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6c88fbaf54fe38f73eb92542118ed46960010fa533a177415db07e8a3e9f5291",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d98a090acb883790041664a78b9c4ffbfe8bc3648d7bbcec63277be5195442b6",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-RJMm8buNbQN_G_Xq5XA6dBr30kj-S6db3oupihT_67ERVLdKrHQ_S_VjbjH_5nxRzavCTFy-jQAUmrYGRi39y0QgSyZr9BVeCngqMMtANKsZ0Rf2ZVQY9i_64Bw44JxGWIeHYqkStSsXlk8WrN6Ga1pWdjtGDR-EuPjBlMn_bj5JFRZHtsKnzqsf1t1zWZ0o78tB4iqEoUHRApH1axmFC9J26BsrvJiKjP0W55hwitXPlw5nadP6nkmn86x0_gvbuWVLwq-mOt68cQmV2MYGbMcX55wTXqzxwZTt9N98TxwmyikpO0v53i61r7j8pcn2GTrOAr3S3n0IpKtgE5RjUq-xnZPYIe_nTk7r4HgC7HQ8nlxg9a6hbVUWKwYeiiVXXJvmBZn-f91pK410eyp6ByjG3qWdCZs2HUJxx4KQ1k7Lc6_uVLffyFnpc7lWRiz-jMaW3GYbYu1gWxKvxHlbOz6DRLe0Vo9Tz6R6Z5m52bAq4MCxDsYLRp8tFB2EEf9j141vkEOrK-1d8qqVRnSB-6neId89mjF2ZkXOTbzfpGLJyYmLFn3Ww8MNZqmGNhad49z7lGleTXpw7qK7alh-uegmScjUdEbH_bciPe7ekXk-GhuiwQaeahcLJuytua2fYKjDA4198Nu6gQskYnzBIZdhBkweg0fyBaH31O7dgFEo03HfpXlMaQTcaScwRrP0I2toCzjegJaPBOO1cOL8_m6rfTqrb99R1NNmV5R4WQYgbhFechi43mQ4wAWIwB0bt8xsE7WXiYOeutOcfDNS6JYS7qBPWz3oEDwrnCrH6CXU27skAoC8cpcuIkG-VYG4E4A-buBJCDENQZRN0wtvs9GJw3HUMFgDP9IxhkhVcEpKJaeCcjvq2UlEW_P7p_8JNA1zSfI4BD6qYLK3KJ1l_ZQbBb4wHnlIwwaXWMtq67wbcqQPIMQNSVmhZk3qQbGeOqtYkUnfslkmmYoiIRJNZfV4kAhjPbUxLUKmgP5MYpy30S21HKiaUpAkhKLHumPZIegkkU9tFs3olgd9AodgWFPRse3YkSHY7vvNFf63tXPTLmuREH0RnSd_l-FgCa_XQ3WwWqSsLpdLYr5Wr00xOoz_Aoq6zf6cdiH-atHWegsICsxa7j-2R4KO1JpPY93u4b8pGkMXl466_er16Uy2XoZJ0QlphL3p-A4lF_Ry8e4SmpMi9bSHDyBWe0xXf6hcMjaLBrpMRediZaj6-Ycsxf3hYqc6q--YHkmN5kNTo0War9ygGm8WSQmIYCw_98-55BCCl1BA1OGNLV-L7q_-3DjavaKxRSkf9QvFbneqlDgWPXibVqxPDCXIzHLtMc80cKOzQ1n4C9wEq0Y0X9aumenELfr_cNFVz9BPwq7vVp4koo62wm1pGmYAAlT3ZtwuQkNdNVo0o3UC_U5saEYq2AYAGP3miFayAtL40sXNOmySlmMC5cnsvbQng8N0sLW9oYpgXARR_0RKcyynvnR52WVDYpP0795Ktdy-Avj_DUc4=",
  "id": "rs_00c34c0f0ed476e9016ab44f90159087d0987733379e09b834",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"The right gripper is now at 2.9 cm height with the bowl’s outer walls lying between the two fingertips. I’m closing around the exterior; a substantial nonzero jaw width should distinguish this from the earlier empty closes.\"}",
  "call_id": "call_em1AnipvoJoVLbh9wDJYTIF7",
  "id": "fc_00c34c0f0ed476e9016ab44f910f3487d0a69c17dca4c2dcce",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_em1AnipvoJoVLbh9wDJYTIF7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4437, 0.5514, 0.1761, -0.3592, -0.3111, 0.9958, 0.4847, 1.3952, 0.3176, 0.4011, 0.3859, 0.252, 0.0093]\nstate[eef_state]: left_x=0.3565 left_y=-0.1011 left_z=0.0664 left_yaw=-0.0067 left_pitch=-0.0875 left_roll=0.0089 left_gripper=0.9958 right_x=0.317 right_y=0.0958 right_z=0.0383 right_yaw=0.0161 right_pitch=-0.047 right_roll=-0.0155 right_gripper=0.0093\nstate[joint_eff]: [0.294, -5.6684, 5.2718, 1.6337, -0.0659, 0.105, -0.0122, 0.1983, -4.8342, 5.8462, 1.8974, 0.3248, 0.0611, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ab1092307beffda3c5be1a9dbf1f9032cb0c1e79c2795ccf57c42b09a34160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217ca6c7118bf920740cf33f3a3a1ecd498cb3799600591b5c10268c4984c003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f10b82dec3c423f227ed1471a7891e0bf64c333f4f2d0528e57c2b83e9dcce",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 4.815 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 51 changed as sent

message 59 changed as sent

message 63 changed as sent

message 51 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4828, 1.4948, 0.6056, 0.2687, -0.4126, -0.3363, 0.0401, -0.0219, 0.8192, 0.5945, -0.4191, -0.0166, -0.0532, 0.999]\nstate[eef_state]: left_x=0.3797 left_y=-0.115 left_z=0.0881 left_yaw=0.0202 left_pitch=0.0128 left_roll=-0.0261 left_gripper=0.0401 right_x=0.2895 right_y=0.0002 right_z=0.1609 right_yaw=0.0101 right_pitch=-0.0718 right_roll=-0.0146 right_gripper=0.999\nstate[joint_eff]: [0.1709, -7.159, 8.5675, 1.7705, -0.0513, 0.2759, 1.0281, -0.1026, -1.4838, 6.9949, 1.6581, -0.0708, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.45, 1.4406, 0.5442, 0.1818, -0.3496, -0.297, 0.9958, 0.4847, 1.3705, 0.337, 0.2699, 0.3729, 0.2401, 0.999]\nstate[eef_state]: left_x=0.3556 left_y=-0.1006 left_z=0.0653 left_yaw=-0.0176 left_pitch=-0.089 left_roll=0.0138 left_gripper=0.9958 right_x=0.3061 right_y=0.0925 right_z=0.0289 right_yaw=0.0295 right_pitch=-0.1289 right_roll=-0.0561 right_gripper=0.999\nstate[joint_eff]: [1.2786, -5.5863, 9.4974, 1.746, -0.5592, -0.1832, 0.0073, 0.3487, -4.7521, 5.8872, 1.8632, 0.3004, 0.1294, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4437, 0.5514, 0.1761, -0.3592, -0.3111, 0.9958, 0.4847, 1.3952, 0.3176, 0.4011, 0.3859, 0.252, 0.0093]\nstate[eef_state]: left_x=0.3565 left_y=-0.1011 left_z=0.0664 left_yaw=-0.0067 left_pitch=-0.0875 left_roll=0.0089 left_gripper=0.9958 right_x=0.317 right_y=0.0958 right_z=0.0383 right_yaw=0.0161 right_pitch=-0.047 right_roll=-0.0155 right_gripper=0.0093\nstate[joint_eff]: [0.294, -5.6684, 5.2718, 1.6337, -0.0659, 0.105, -0.0122, 0.1983, -4.8342, 5.8462, 1.8974, 0.3248, 0.0611, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:46ab1092307beffda3c5be1a9dbf1f9032cb0c1e79c2795ccf57c42b09a34160",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:217ca6c7118bf920740cf33f3a3a1ecd498cb3799600591b5c10268c4984c003",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f10b82dec3c423f227ed1471a7891e0bf64c333f4f2d0528e57c2b83e9dcce",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-YIOI16aCXdVLCiQdJcZc5EXc2p3ZqnCcxd6Lz60HMbuOSssgcChXzeYWjNQk9a-M-4qmSdBvWGa3Ry3Yor7DGcgUs_XWMw8obl2Eemt0LnM0oByz3MwvJw2BMzTW2olkwL016ENrE2oOUiyHbZnlB_9yXxVgDbPCfF_4S64_-1eCCHNaz07AevvD0PS20tORWHIAQr7sxeWkIHDl9VPDnRik87N1T3Vc6D-qokoeS2GB6r26FOEAwTcglZClkXwxSqWgxBgvW3aNSY4XbHFFwuSix_BbK4CvpmPwd-OEaKmIdNrRM2LLfyQpfljPGN46DuYkpv3_gGiLBZ28ISAs9gw-S42SKBOspM_7k_ObrxueS6sjzR-gZDTJEar0twW0voIpdXTyM1tY4Z46Xf02RVAh0ty6PjI35Pg2KzYd2spuX4sChnQxOIKWriAYSDjguyHHAKoAWmNTsGz4PC6vU1BESW1_GiNI2kFjp4sYAHYdEZFo4YoFrOSmE-xTzjxV6HIogbijmXeGSgyDBf77jChouiXB6GX7M7g414BXyTqoceEsLgV0gNKuspThBRBwBMgiaTof-f_BXMYzOQo55kppLiNjyrbyfdEfmx48SCA6tkmgVe_mYNAC82cka7h5OHLvxKtucJviJQSHRypiWL5o3kAYHGAksi2HQ_nzw09QmVyAuBBBJDWA2dLeQl5VYhXeROyhDBiHWLdLa6xghGEf_t6Cofj1kPAMyBmDa7eh7yu01yg7kGC-n_80En-4yjEwE1OxSEGw8nsZlxwYlS0j7zvn9bmVXzQLVIqnpo8xnMoZSbS0Hchrh-B6Tz8pVzEjm8YmrJmElHXI585fMWzEJbpi_6XzB6CeWV7drHsDR9NGjUjsB3_YIKZR3LqlxYKvGWMYfCXT4RHAlCBJfMkYDzIWN5GHNpn7clmtTRxOKu7Ju9Le55ZOoDcV-BxqzEaj-QUnC7ZYuG6pyv0DkxfhUgY7xGtwG40E9uuOG7Dbpzp1cF3UuMymQGHkl220gPp7Gs20lQUF1GrcoWEYdn9YpdbwLcTaSEBCJtFXNdJfbOPjPlhKPJzSYQ4-vHw8gosiwXHZ-6jFFN37x2Z04U0A1je3paedaj84OKns3Ly0HsicC6dxaAr0zJ_iW-0qfxO2MJAIqKQQwmp82zC3KtQjzc87n_P6JHdeoBza8y6NFTLtUSSS6tgkS-dgsCOGK7swek4UuCwhTnCwdl1liqm94imkXP1KxU15VzuDJlJn7DymqQSgN98YqQ9dGhXnB1NJzbdUxmOvWJFLcsoD85KY4NBkhv4EpEmnZoKesRsGoZTeAC9aDrgTV1oK06cza2-7y4-lBAjOVcTxNLyxOs34QZM3-hnErKurPUhGdOxAaec8Dk8n0r549EHGuAKmye-66dDM3HgBCmk7IhcytIIbGKDKJZdsu5ZAenHfY5irsh4dtcBo8xq81WMOaW8IBodP5tC8ScnPLScnVrkSdccVoVdcgdAkPBuuxYIjoRWj-YaYEFOvuG4UbVPvDMJLBwrD7oleTBrjFt1-hz-SeX_rN93MvLQv5Ox9ycf_wWPeudCVdUxW3HU4ymzv5BxBC9WNNg3Df0--naWjlGpQx-LAuxQq76MqBcGbwYDd9xJQZPsiNs-E22DMyV_UDP0zzDrwx0JGP5Q8tKr4n1krFz49dnhI-1li5F3V_-tVcWqhiL-L9FpH68PkPVzyHnqRqdH_3234i6npoYH0_74Y3ZpZwFv41JouoSCdlWf_9Eyo_6rJB-ri-cl8NpLx2k1_qkwYTORuOp9XX81Zog_Er17LJUVLV6qkswDLkL-eWyLdteqnjbhHl8e-xx72_M9Sw7NYWE50DRuLrRjMRoGTdddyrTEuK6miEeZ1o-iaGtD1dF262JP8ZP-_DOfmtvVAz9BHnl68GMVPnKPRGY_FKIVb78IFk1EYwnv_1cLE8QQvbYwal0jhjXBWMC0jCtXAsHV9Vakr1lVqcsIMBTkkpCfMSegEp0MXDUh92HTc87aXAFn0DPgvaVuBGvZJLPTWfSO1C7RrGPG2yxrh3jAv9dasTlz33iAjHqrU3U0332FsUUcTqV8ty-xq7mhvxQ3A0GYyZgwXKfSRDD05nCVomLIAjFC4O8OEm-mo1XJc-2bFNAF0TrpCTEpwZ8gplhl3UUhRJBKDMbHd7wMNvaf1DkjdCwq130tjvcMdUaF9zTzTS2TxVAT3huvh9o7cJLh4AQW2HvmXxgX0JyGHsTfbzA-z84ZBPj4aNV_zz_OlNLyGC_zdk_y6QkUby2RLn6vhKbi8E-9XMAVSL4n_MzsMHijiZ8mAeMIju_ygLyvAa0PoWP4NEk-7JpiX4R9Lri9abdaMCXZQX9I2cu7FupYnXhmntocPJDqjucy4Z41CCri0CFeOu5jAtApVEBpcZ6nrqGeYgi-bpZuC7jo67jskELooMFsyEbtf4_6lWyPJCaVbEzIkBCACXoB7gZZBJvLxAE_f_rDk0vMja-BybrHerKqN_taLLIefwYLWFyWUIwffE8JSZdQAqc0-8T-qkrHUGOTTe4ai5cih611ItyFJPrN2VXNkQaKYy48A5gTBj9kVMq3Qk4Wl5FDu_bY9xWF8Ol7KZibcGSzMIkBolbqaIyQcXKjTWYADSDtpguGs9y_GRadQcxQ5445VnKzGX7-cZi4UGu7Am8r9UTEpN0CIptciLoibbdAGnVlHx4uwGyKXfAIxGs8MvwmvEXYtrrhYJtW30A7DCTKAYZFZIbl5zvi28-7zrzIXJo2VUAp7TsUoNPu56RD32iJEoCTpvGM0fIUeQnRpdyJDJBYGwYHvpVpT4u6UNOyv-WEBzI5BFGB1U3NGiSyskEcMwbN_rC7FQ4w5HLXGeVf0CRu3MLcQVfu35SGiiRCUEvR4FUgYHGpFEauV6LCe6M6vLvXQWuhgJzITOy4oZ_ooODgc3Qkh7SVTD4lDdMcZ0PFgG2YjfXAKjTpcEZkLd7qwdvRXJxvmvra4cussj2zvUdFaNWHQ-QQ0lGh9-adt5SmLc2pKtQ5NjXjzW8w5_HuOrNj6fMp0_-UQLaJ7AqZQVf9qZDPh1pSFY4zWwCJs5LkeIy8Y4EGU5cqmAp0LnGcBlRfDsp5Fa8shxYjesdWPJzlZ-iX6Vty_yZUJtW2qYd9Ln6UVQH1YakBhITMVZMDvYXZlAh4rzI1pBmiqWkzPReoCgB5J8Dti9ji_K7-mTXY-CGCFBVdsDdw0NWfcJHP2IlEarVMRzKyWuPEk4-LmmJRyCAqG7je82QWPOF-gr1stZSpeASU0=",
  "id": "rs_00c34c0f0ed476e9016ab44f939dc087d0ac5df7aa7c85e38a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_gripper\":1.0,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"This close was empty, and the overhead view now makes the error clear: the right gripper is several centimetres nearer the base than the bowl center, so one jaw entered the bowl instead of straddling it. I’m reopening and lifting before shifting the grasp point outward.\"}",
  "call_id": "call_2jm0E6fJW38OofkRf4AXEYU7",
  "id": "fc_00c34c0f0ed476e9016ab44f970f4c87d08300bf61ef663207",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2jm0E6fJW38OofkRf4AXEYU7",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4441, 0.5514, 0.1753, -0.3595, -0.3119, 0.9958, 0.4957, 1.1255, 0.4557, 0.0082, 0.3897, 0.2539, 0.9948]\nstate[eef_state]: left_x=0.3564 left_y=-0.101 left_z=0.0661 left_yaw=-0.006 left_pitch=-0.0884 left_roll=0.0091 left_gripper=0.9958 right_x=0.3116 right_y=0.0963 right_z=0.1019 right_yaw=0.0233 right_pitch=-0.0326 right_roll=-0.0093 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -5.4359, 6.0376, 1.58, -0.1832, -0.0171, -0.0122, 0.3077, -3.8359, 9.4564, 1.79, 0.3541, 0.0904, -0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b31b3f6bdb832de5c6001f7d0c5c7c059e469c92723b03fbd4472879b195177",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d2f4122f2e2460a3fa30838ca9f126d35a166b4436c79a1554b1f226b2e3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210444e92934d48f78833dfdfed50887aecd81b6730e3a13fb62bf7c19882a85",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /responses · status 200 · 5.604 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 55 changed as sent

message 63 changed as sent

message 67 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4599, 1.4376, 0.585, 0.1989, -0.3931, -0.3241, 0.9956, 0.4561, 1.1744, 0.5819, -0.12, 0.3408, 0.2104, 0.999]\nstate[eef_state]: left_x=0.3691 left_y=-0.1033 left_z=0.087 left_yaw=0.0208 left_pitch=-0.0219 left_roll=-0.0104 left_gripper=0.9956 right_x=0.3242 right_y=0.0973 right_z=0.114 right_yaw=0.0454 right_pitch=-0.0923 right_roll=-0.038 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -6.8308, 5.9556, 1.8193, -0.1783, 0.0415, -0.1636, 0.1436, -4.0684, 10.1812, 1.9267, 0.3297, 0.1392, -0.1197]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4437, 0.5514, 0.1761, -0.3592, -0.3111, 0.9958, 0.4847, 1.3952, 0.3176, 0.4011, 0.3859, 0.252, 0.0093]\nstate[eef_state]: left_x=0.3565 left_y=-0.1011 left_z=0.0664 left_yaw=-0.0067 left_pitch=-0.0875 left_roll=0.0089 left_gripper=0.9958 right_x=0.317 right_y=0.0958 right_z=0.0383 right_yaw=0.0161 right_pitch=-0.047 right_roll=-0.0155 right_gripper=0.0093\nstate[joint_eff]: [0.294, -5.6684, 5.2718, 1.6337, -0.0659, 0.105, -0.0122, 0.1983, -4.8342, 5.8462, 1.8974, 0.3248, 0.0611, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4441, 0.5514, 0.1753, -0.3595, -0.3119, 0.9958, 0.4957, 1.1255, 0.4557, 0.0082, 0.3897, 0.2539, 0.9948]\nstate[eef_state]: left_x=0.3564 left_y=-0.101 left_z=0.0661 left_yaw=-0.006 left_pitch=-0.0884 left_roll=0.0091 left_gripper=0.9958 right_x=0.3116 right_y=0.0963 right_z=0.1019 right_yaw=0.0233 right_pitch=-0.0326 right_roll=-0.0093 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -5.4359, 6.0376, 1.58, -0.1832, -0.0171, -0.0122, 0.3077, -3.8359, 9.4564, 1.79, 0.3541, 0.0904, -0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b31b3f6bdb832de5c6001f7d0c5c7c059e469c92723b03fbd4472879b195177",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:74d2f4122f2e2460a3fa30838ca9f126d35a166b4436c79a1554b1f226b2e3b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:210444e92934d48f78833dfdfed50887aecd81b6730e3a13fb62bf7c19882a85",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-dSiOBLJZr15OuBsS_5xHKDpetcsHysYoxHrgDob4jVJDlAKPhb1k3cpSRZuSQ_pHYwwEvtQnT-377-RPEb6_qISylkqD4LsuB7dHBpgolOmO5lmaAxHJuCbUfBHK4AcFiFEUcrLnVLeEiuMYdiwQD5nX9zTfdUzdg41TyP33AVDm5JFvzTQ2sng9bgy0TDLT9-PL7BmiDLd1s_8Fmhq2e3U_sAdAQlSvp5j41kNbDx6nFu98sFwI4mjbr3GR9dsc2VUDOAlxyJx8ANrrHn0zOaODymV0M447I-vToflUaipP-1hdOKPHptr0cLEOVg6Xn4234tmgiA5lIeMJc8GmIJ-Lz5IunV72qT9GxF8N4UHNql3cnJ4EULEadVSXhbWoCNcfipvMeu1e5_EJ05zBb0Raw3VlCJndDasH8_Y8FwoCTXrx398eoDe9K8krvxqG5iqi9y8LR9vCXu8nGqf3Xi5nGyXh4PaIrc-JB8PQW8NuhfBm6-fyiRl_Nd1FHPsy4VxnbbU_v-XFo2H4g_hrEyS7UGkFsQuyHo2ovBNWDBjvVRrvgktBGnk2r51x06Q4vmP9t_V95P053K07QJxnRI2--YGH7c_p9INYmpIlXMODFQ6fwhV_lP7b-PAN8sUmLuxfKz9ID4K5fQENQAe8zyKAZueKIHgGqlswLLZuRvHjzFIPimWom78WP6_6uZK-bjmMyZbgaszTGnIu5-Z26corNlwYxkob9ujuMkECwi0aAKhjSvGln0Q6c9rYOeihxNe7MjJb2N4hdwWutOVicosxEV26VasGmYhf-PMsi2Vf5vRF6AjuENJn3GC3sbXnQ8Epr_6MZeG-nyAQ1m0Dkvb2XyAr5AFZsy_U6NUWZBBMyX24ICaW1tyjfVao30Es1VpBouL7XjOHBAKn3rzAAF_Xkk3qWjM8cwJDpZtuVw0OuuY4-yLErx-lMjIujFEiBj0fCe7ZL7JBFLCMew7Okx5kZIQF4VxPUt3HSc9WVqh2nH3fBeW19ASUPvCc7158xIz3gy53115PjMykz3uQraSyTXRr5PBZwblk7FcJAm9Oyldu0n4A_lldnRShG-2-7vW88VG9hofiU207BEipFBXdrvgcpxWb29qo6VFdhSA8SYqG-BeLCb3BcS40zqMWpDA-qwDIxd0Hg7H2kO7iiDP1KrcMQEmlpzKPYppVwmh6CikzQmm3i2tp0qR4rKWve8zURVN9JTQF5mhdFrRyql7b9JGSVJiEIAk177VWGOpPuWuQ4i4JGSzCTQCDKxk0zNj0j1J_gR4zEEMyZEiZ96LQzk54sjNMl3n7ZNiPoA7yDBGVIkiKn9pakHi47MkFxI8PQq308z-KHc2ciPe1V4Ff3oB7vRml86TqZTTiRV3ZNPz2AQJjBds9PpOLpFzy4dsFtYiIiNdVPqlnxYgs7IAQZep5_L9xY9bi1w_Y-6D-MVC7OVTyvLUKi1uSE9BGio-EnolTVIuxgIvqNdu2cIcYI9pZi86kxWjuCu6huRyhQuezaeBIUVEZfu8HRTBfWpqK-K2_EMxvAi98zMSpNa8-MumnjbndTenwdVGszSQKMg91j_cIfmNiCdpWAUEpd7yzLwyx5qha4DE6XP1pF9eaz6FaU_qNkkYf6Z_E8t-fCj02-PR813cB1ybu69wPHKD44-6QaTHGoOxZfD5NpF6d2icSAjc669NQRd7GXt-6bO7prFl5XRbyPSEO2cavD",
  "id": "rs_00c34c0f0ed476e9016ab44f9a045087d0980fdb2f2508c73e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.096,\"right_z\":0.13,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"At clearance height the overhead image shows about a 15-pixel forward offset from the grasp point to the bowl center, consistent with roughly 5–7 cm in this far region. I’m moving the right grasp point outward to the bowl center while keeping the jaws open.\"}",
  "call_id": "call_5CfOyuQBg6v0deZTlDCbpgQk",
  "id": "fc_00c34c0f0ed476e9016ab44f9b541087d099652df5fe790f74",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_5CfOyuQBg6v0deZTlDCbpgQk",
  "output": [
    {
      "text": "executing move_to over 7 steps (0.7s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3595, -0.3122, 0.9958, 0.3729, 1.3838, 0.6754, 0.0372, 0.3126, 0.1829, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0054 left_pitch=-0.0953 left_roll=0.0121 left_gripper=0.9958 right_x=0.3748 right_y=0.0921 right_z=0.1096 right_yaw=0.0013 right_pitch=-0.0616 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.3402, 5.8325, 1.5897, -0.149, -0.0366, -0.0122, -0.2803, -5.4222, 8.9504, 1.9512, 0.1197, 0.0317, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e042d0f9b05050588625d68dc304d66ceb0a615fb4ffbcd3cc2d7d1e5ca0b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca37d9ef6314a821ea9bc2cb369427b63a8ac46872090b9c9c888281572b716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13fe4b2fcb4c8fd792c4e822a6a905c1899684dbb5109799bc12db1279b3da6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /responses · status 200 · 2.268 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 59 changed as sent

message 67 changed as sent

message 71 changed as sent

message 59 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.45, 1.4406, 0.5442, 0.1818, -0.3496, -0.297, 0.9958, 0.4847, 1.3705, 0.337, 0.2699, 0.3729, 0.2401, 0.999]\nstate[eef_state]: left_x=0.3556 left_y=-0.1006 left_z=0.0653 left_yaw=-0.0176 left_pitch=-0.089 left_roll=0.0138 left_gripper=0.9958 right_x=0.3061 right_y=0.0925 right_z=0.0289 right_yaw=0.0295 right_pitch=-0.1289 right_roll=-0.0561 right_gripper=0.999\nstate[joint_eff]: [1.2786, -5.5863, 9.4974, 1.746, -0.5592, -0.1832, 0.0073, 0.3487, -4.7521, 5.8872, 1.8632, 0.3004, 0.1294, -0.1148]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4441, 0.5514, 0.1753, -0.3595, -0.3119, 0.9958, 0.4957, 1.1255, 0.4557, 0.0082, 0.3897, 0.2539, 0.9948]\nstate[eef_state]: left_x=0.3564 left_y=-0.101 left_z=0.0661 left_yaw=-0.006 left_pitch=-0.0884 left_roll=0.0091 left_gripper=0.9958 right_x=0.3116 right_y=0.0963 right_z=0.1019 right_yaw=0.0233 right_pitch=-0.0326 right_roll=-0.0093 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -5.4359, 6.0376, 1.58, -0.1832, -0.0171, -0.0122, 0.3077, -3.8359, 9.4564, 1.79, 0.3541, 0.0904, -0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3595, -0.3122, 0.9958, 0.3729, 1.3838, 0.6754, 0.0372, 0.3126, 0.1829, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0054 left_pitch=-0.0953 left_roll=0.0121 left_gripper=0.9958 right_x=0.3748 right_y=0.0921 right_z=0.1096 right_yaw=0.0013 right_pitch=-0.0616 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.3402, 5.8325, 1.5897, -0.149, -0.0366, -0.0122, -0.2803, -5.4222, 8.9504, 1.9512, 0.1197, 0.0317, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:20e042d0f9b05050588625d68dc304d66ceb0a615fb4ffbcd3cc2d7d1e5ca0b0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ca37d9ef6314a821ea9bc2cb369427b63a8ac46872090b9c9c888281572b716",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:13fe4b2fcb4c8fd792c4e822a6a905c1899684dbb5109799bc12db1279b3da6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-jfyWutalaRhxQSbwEI_ecpr7k6B8eXqoxFiiPE1PeMSG53BjCPF8TMob-5GK_yrE5KW4vj6KcFSWPboMajx5Lvyfr4QZSFfc_DouzjdG9rfcrbkG9O9MqmJhZfKRBBjsS94S4xZOaFZOxZThd0QZ7Kg2AHhZmazwr4FjDURUjsurBYIHHZYb07UpZLvqblrwWLb9eOFPuLm6r4APGcI1_ll5wq6ciDdMFcD98EA6f4ZJdq9mieUcHblcEbr5KHt1gHv_zJIDfci6gddUkn4ZEqG7glftvxI1EOVqoVVJ7oZMBk96hcFR2ZU0oabkSpqMK-1bOL9EIMkHd_YpMaWLkRp-L6ABmtGZGIU726nY0r_c74On_Ig9OGhZNbWJ4-j8uCKXpQfRc-Xk0Cpykz1WK9_I9XgXaYSBYEQvMKZqktnGUB38HlnXTxShNeEm4MGGovFcyRuN8thdeMKndpWFGiri0BWdQjk1ujIDI6Fimz97VepuTF0WkEnDwV6_EuxkeLMhH-XRzgAw3FdBc8ftshNKDJ-lZzB8M_VZio1f0pfilEbvos837uxhmYlbyvHwt8hQM-v2Rhbo3p1AmXwzKgY9ax36-KRF9oJ_T3kYmVdhnZJFbPixsKZfAGhqjbO09gGVTcT9RviTzYlN8ZaklRWMvUHFzwEGtkplabSEP4kARrlw0aklI01ff2ixwu-dXa7MF5BzyHuCslcFZxtciQ2DBrF77vnPGMIIgt2pHYvZpAawT3IimUqjxxsiPbNpy8v59EBQD92aQfgfBvpLmyKmemoCRtH3ivq0t0n0QJ3jzecrVNHZHS3_X0ndjRDThv3kTg-ehtBEbHOrd1hEh1IaVwtiOkZ2eEtTWGxTVdlSO5Z5Av8Mk2HaxHrcYy1wE6csdmmemfz3DOezPAfVjCHxbYzEilQ48-9bJ-7KPwctXSYZeCwEHOunL0DSDTM9zxOXhTV8dysH1GzsG26hp3sj9Vlxy1p96aJ33l-B7XTyw20UwBXhe-fJVUM4cbRjvhGRU5-MVvzggHEbTbBLbIX93kV7QHMlNR-ECRkMBbYHieLC6WtxybGMUkZgBc6twWrncNveA0a6Wk5gDkUW72azhBuK5_a7n6DjkGvOaqiVb29M0F4F8Msqq96N36W8bw69HS6rK-Tk6QLemTabJCIzbYyeRIgCEnmVMoRuS7NenHwuoN12ZqzJwT_dz9-vypMCstF4l_HBPqTBYTdlQ4A-ir94Hr1xT-T2ID7BU2cPmfT9hZiJ7UM2L76NRc98l9oqR_7GAL8ggVxcvwLsY4mp0uyQiMLWC4zG8EZGUmQcP12VxyzbU6cB_FhzNHvhRpBZL1Vgbl_raH0HT99xzrPk-luO8QnjEETJuX_cPqvonzzTpxf13oDiNIfCVnc-h1hZ2jC3m5cTprzgk_CINDaI9B7q9J2jWwa-MIl-ZyMgz77KfZqs84-rfuDRun-v-LMtsWVgCnSKPYGbrhORlqA==",
  "id": "rs_00c34c0f0ed476e9016ab44fa035c487d0b7292f350552930b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.375,\"right_y\":0.092,\"right_z\":0.04,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"After the outward correction, the right bowl center has moved down to the fingertip convergence region and the overhead view shows the gripper centered over it. I’m descending with a straight wrist to grasp around the bowl’s full outside diameter.\"}",
  "call_id": "call_efSPL7KxJzZ4R1vm0iTXFD5n",
  "id": "fc_00c34c0f0ed476e9016ab44fa1266887d09e5858b32e5765ba",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_efSPL7KxJzZ4R1vm0iTXFD5n",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3599, -0.3122, 0.9958, 0.371, 1.5913, 0.4847, 0.4324, 0.3099, 0.181, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0051 left_pitch=-0.0952 left_roll=0.0123 left_gripper=0.9958 right_x=0.3677 right_y=0.0891 right_z=0.0351 right_yaw=0.0026 right_pitch=-0.0651 right_roll=-0.0286 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -5.4085, 5.8325, 1.5214, -0.1783, -0.0659, -0.0122, -0.0615, -5.5179, 4.588, 1.3993, 0.0659, -0.0171, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2d3c9fd31d2166e10d4a00ec982249f41ae62d61a801e04792cfeb9e274f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bf683f29c00e15b04e314b3b7e43c75ea8853fe5349547b3f36492415d3838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ce319533413874b260a0ec58acc66030c56acfe65eb25a8428dd0f0ef4ef99",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /responses · status 200 · 7.218 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 63 changed as sent

message 71 changed as sent

message 75 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4437, 0.5514, 0.1761, -0.3592, -0.3111, 0.9958, 0.4847, 1.3952, 0.3176, 0.4011, 0.3859, 0.252, 0.0093]\nstate[eef_state]: left_x=0.3565 left_y=-0.1011 left_z=0.0664 left_yaw=-0.0067 left_pitch=-0.0875 left_roll=0.0089 left_gripper=0.9958 right_x=0.317 right_y=0.0958 right_z=0.0383 right_yaw=0.0161 right_pitch=-0.047 right_roll=-0.0155 right_gripper=0.0093\nstate[joint_eff]: [0.294, -5.6684, 5.2718, 1.6337, -0.0659, 0.105, -0.0122, 0.1983, -4.8342, 5.8462, 1.8974, 0.3248, 0.0611, 0.7546]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3595, -0.3122, 0.9958, 0.3729, 1.3838, 0.6754, 0.0372, 0.3126, 0.1829, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0054 left_pitch=-0.0953 left_roll=0.0121 left_gripper=0.9958 right_x=0.3748 right_y=0.0921 right_z=0.1096 right_yaw=0.0013 right_pitch=-0.0616 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.3402, 5.8325, 1.5897, -0.149, -0.0366, -0.0122, -0.2803, -5.4222, 8.9504, 1.9512, 0.1197, 0.0317, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3599, -0.3122, 0.9958, 0.371, 1.5913, 0.4847, 0.4324, 0.3099, 0.181, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0051 left_pitch=-0.0952 left_roll=0.0123 left_gripper=0.9958 right_x=0.3677 right_y=0.0891 right_z=0.0351 right_yaw=0.0026 right_pitch=-0.0651 right_roll=-0.0286 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -5.4085, 5.8325, 1.5214, -0.1783, -0.0659, -0.0122, -0.0615, -5.5179, 4.588, 1.3993, 0.0659, -0.0171, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c2d3c9fd31d2166e10d4a00ec982249f41ae62d61a801e04792cfeb9e274f23",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44bf683f29c00e15b04e314b3b7e43c75ea8853fe5349547b3f36492415d3838",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:29ce319533413874b260a0ec58acc66030c56acfe65eb25a8428dd0f0ef4ef99",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-mqCDaN7lLXihVXm6j963dACQEX9Sugtnkm3lBjLWTxXsA1YxJ1NrZxK0qETM88jnfrKXFVBo8oHevmZhcPVJzRSBYtIQ4FRhuGOcMlqceq7DQskW-Q-aHWH8ZHmU7Sb1DX-kcrtCvU4q_YHfbrK_S6mrKzW68GsoI9hKWq5-ItdCWBOO8dR7upm3lv_NiXXfFiTpQMXRxoz4LUNJbq7UgPZS_v7n7K1M8bxzpr1ruyd_nwz60Xru6ECLagF-hMMyKpKAtXtYsXAxp0F8LS79I8tv_RITFzgq8xYr5Hdc92_nOlGI1gqSwVVofGbY8MRmrZ68GCVMiEIRwFhH_MCiMSjpVW-LyHXN-6DUdJwCiPnPqZcuM3X8dyLLtwx5jTBWJVeRfiekLXzgFcCxa_plMuIEkJXikXWOJ2PpOrXTMyQBuVPH-xyZGNquVBIgdXR3yoQvNrJ201Z1I4PPjGQ9qRC5lYlF5mao11x5rp_vgtXDQsJ7MoPZjqyTgjHV7XaZNPSuXJy8Jn7IaPtGHLkXm71_sCzK1hSCIrvVec36N7orNl45zGqn2MIu8N8Xq1oeCfy94fNh1CN0itLrHml_KTi_UU2nSngC0W6g2dCV7UXhjSSjj72neFGOb7B64hm5XhFWNIuC5VCDXptZ31XB0oAKC3eTWgGomuiKzoPNmxnlzIEw3y8xqMRBaycJ4TLx1NghXGdJjiIuodbmGJLj692qbImBwoy8fNfpQCdl0zaqiJJY8YkFZH6Zrs6ERef9TGMbxzHUV0uCVI7oLo5-2rkDVAdfwIbjL63kRn94GtPG0WKkil98-3dE2aK2v8A6D-g4_yrSGW2VbA1YbRKkTm79BPZXnQPNKpN6TwEEEq3qBc3yMP78FM21P_Xe5q_4Zvc-MhY6OeLXroSmYF5s0wErFljS1LWVLb-iVoXGFA91qdb582dpiZnIYhr47RNzMlGVopuU--LinfBKNWPkqlXIGVHuYiKkhc5ir6tTXNkf4h9p-nkk2Kq03c4UbBjka9dTAQ4x1kuoc9Ebt8VQw9AmINOfuY4sYBPjGFD3iuHsgasGkx_u6uPRiYDGFKn7ppyFlESYA3-BwrjovaNntaQ0R8B9U9IpQTawLoVMWgnYskTK6MfFfDhY1rYSWMGIrFOFaGd4ikxyCvrRvuYlvsEqp0p_SJ5p0gffcThUffg00fdagK_avY1QFpn_W2A4rHIExIVSRNffWJfNt_UbI5FHHUsyj6HS-53xzU76GBk98K_BK3cvN1HiiQJXbKHe5l7dxQcV-dI-wuuObUIvGmOnaxD0-CDUwGaQn3Tot-IavzB9gOZ7297m6HD3tTyiRbQnNvAZeNP2eLF6mR93RqqxE9-fbUP3fDptXTVv_3jZwlInFf4KJiqWlN-P-WLvyL0c8jFmqUoMvkWdxGQYNuQ==",
  "id": "rs_00c34c0f0ed476e9016ab44fa58e4087d0817b6feefbd31d6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At 3.5 cm height the bowl now fills the right wrist view symmetrically, with each open finger outside an opposite wall rather than one finger inside. I’m closing this corrected exterior grasp.\"}",
  "call_id": "call_0fHEcTB5w5vvhm82Wgcp6xv3",
  "id": "fc_00c34c0f0ed476e9016ab44fa5f0f087d084d4b80c53370c06",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_0fHEcTB5w5vvhm82Wgcp6xv3",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1684, -0.3595, -0.3122, 0.9958, 0.371, 1.6081, 0.4702, 0.4332, 0.3054, 0.1802, 0.0093]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0054 left_pitch=-0.0956 left_roll=0.0123 left_gripper=0.9958 right_x=0.3618 right_y=0.0876 right_z=0.0242 right_yaw=0.0059 right_pitch=-0.0947 right_roll=-0.0375 right_gripper=0.0093\nstate[joint_eff]: [-0.0752, -5.4222, 6.0103, 1.5849, -0.149, -0.0317, -0.0122, -0.2393, -7.1453, 6.0923, 1.6386, 0.1734, -0.022, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fe1a14dfa831270189ab36728d98137fbc7a1da520788bd937eded943756ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86167d934d955221bcbc1658a4fad40997352fe4acb084864a102d231616fb5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a1fe17a8a1406012382f12479325669145c5cfc5456f6ce9e2feb136fccc23",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /responses · status 200 · 5.054 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 67 changed as sent

message 75 changed as sent

message 79 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4441, 0.5514, 0.1753, -0.3595, -0.3119, 0.9958, 0.4957, 1.1255, 0.4557, 0.0082, 0.3897, 0.2539, 0.9948]\nstate[eef_state]: left_x=0.3564 left_y=-0.101 left_z=0.0661 left_yaw=-0.006 left_pitch=-0.0884 left_roll=0.0091 left_gripper=0.9958 right_x=0.3116 right_y=0.0963 right_z=0.1019 right_yaw=0.0233 right_pitch=-0.0326 right_roll=-0.0093 right_gripper=0.9948\nstate[joint_eff]: [-0.212, -5.4359, 6.0376, 1.58, -0.1832, -0.0171, -0.0122, 0.3077, -3.8359, 9.4564, 1.79, 0.3541, 0.0904, -0.0562]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3599, -0.3122, 0.9958, 0.371, 1.5913, 0.4847, 0.4324, 0.3099, 0.181, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0051 left_pitch=-0.0952 left_roll=0.0123 left_gripper=0.9958 right_x=0.3677 right_y=0.0891 right_z=0.0351 right_yaw=0.0026 right_pitch=-0.0651 right_roll=-0.0286 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -5.4085, 5.8325, 1.5214, -0.1783, -0.0659, -0.0122, -0.0615, -5.5179, 4.588, 1.3993, 0.0659, -0.0171, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1684, -0.3595, -0.3122, 0.9958, 0.371, 1.6081, 0.4702, 0.4332, 0.3054, 0.1802, 0.0093]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0054 left_pitch=-0.0956 left_roll=0.0123 left_gripper=0.9958 right_x=0.3618 right_y=0.0876 right_z=0.0242 right_yaw=0.0059 right_pitch=-0.0947 right_roll=-0.0375 right_gripper=0.0093\nstate[joint_eff]: [-0.0752, -5.4222, 6.0103, 1.5849, -0.149, -0.0317, -0.0122, -0.2393, -7.1453, 6.0923, 1.6386, 0.1734, -0.022, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:72fe1a14dfa831270189ab36728d98137fbc7a1da520788bd937eded943756ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:86167d934d955221bcbc1658a4fad40997352fe4acb084864a102d231616fb5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a1a1fe17a8a1406012382f12479325669145c5cfc5456f6ce9e2feb136fccc23",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab44fa8ead487d0b924c3429dfff6a9",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-u8ZhdBjJXxhIqyf_fahE91YERVjrD3lRvUL5qhLOwwODdqa4M4cweTErZwYhcGF_ZtM7BX4w-OqGWIPpba4XgoxisJz9aWJvVsbmPej4YkHxj6usERHF4lFOChqF6zaJcnpO1-XWHGF9EzxMJcNqllWdSWGnYWyFRkDh-3aPDC5hnVyjoR-J4fieqelfIpJKahWpYr3NfwyJKZp2M4NADZMbNjysRY3C8upsXGFRhL1gqT_sXf5O3DSkRccKLyWQxjFpQ8dp5JNIbF4eu2fQhgWHM-CdDXsyHzoRgWM-gTbiCcFZOkxFG4iNLPoWEeZ3o1v-p5bmVoLRDrZmWcyVzzPPK1GFVAbhoDF36yQN3aZqhcLWCHm3h8dN3yqI0LhuG_pqT9PZQBRkil3AppLNz6kqGt55vaMd1my2gBaUb9c9xMhJ7754DxLMy_z6p_gSLnl8rilRLbej06h-K2Luob94FGw8Fc8YsYmLtpPjJdPts4ou4to_QhFdOu4shrLMWIq7FnMF8_2h0BRfalcHXfdKvdvGDWLaUB86su9q2T5-qRgzHvX9XGzQg9ZDAJG6LKKvX57mtQ95o-SO-j75pMMnAOgz66xaVjIBwgVPXkZgolDhDoijsPZGCTGqD2qVmYeI8lsAbQ9eCr3RVcPYmnPKOVEHXMehbiPxVov3ZEQ2fQfH778ZtpmAUY6V71snq2XbqwH9JJrO_oFaMdJH91enIOge3K-hgbL2flzU0BnGx0vfye4keuee1nVY6NTxEIUeePHy2iqKBc9tuwZUE09g5vxUpSYcwqGH2X6b157VKqgxkgW2ZOvXDBXw141UAkYF4j-G6Nn9XfwlGnyYjzbmFwwJUsnGyNFTF_lUt5qNjZWWgK-Gw09B30NBZF9oQOKcRcxtpdUEE7T5-CYYlm-QOrfXuBIADAM2nz3PSF1DGvrARbwwWn3Kb4Bp8JrC_DWtmo5n6jAc3pDA4Geq-y52CioigK1y-zL18CJ7Sop4qxUAoMIVETo7mbR6qQL6j4DG6ePwFBADP2K_F5Ib2_vfpsxRNcy7U5RCmA6yteOOr3ibqIsLZEc57eQXgmgLeP8XGPBP-XId3t2lg5oRUUAJEOrFbI88fpUHwBqva4jN2_AWQyIEdQ3uon6VXtq7asDW35Jle2aFUG9Jf2g_43JcYznd6UXmELGd7_hoekisLqZOlX1SOhsQlx8VheFfTfsrO9vXNHn0GlAKHFcOpKY30hXT-zabQJ2vTf0VcrVAkh-SXtXujzZr4MCtQ3NHz",
  "id": "rs_00c34c0f0ed476e9016ab44fada0b887d0817d0f7add31ad22",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_gripper\":1.0,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"Even centered, the jaws closed inside the bowl, showing the rim is wider than the 9.5 cm gripper stroke and cannot be captured across its full diameter. I’m reopening and lifting; the viable strategy is to pinch a single rim wall with one finger inside and one outside.\"}",
  "call_id": "call_sow0d1thtkt3MNSEcotPjaF0",
  "id": "fc_00c34c0f0ed476e9016ab44fadedc087d09c41a2cf3cb7addc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sow0d1thtkt3MNSEcotPjaF0",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3729, 1.3094, 0.5591, 0.1093, 0.3061, 0.1799, 0.9954]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3563 right_y=0.0861 right_z=0.1014 right_yaw=0.0088 right_pitch=-0.035 right_roll=-0.0155 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.4632, 5.8325, 1.5604, -0.2027, -0.0317, -0.0122, -0.0205, -5.6, 9.1829, 1.663, 0.1392, 0.0171, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6e833ac52ddf484536760ca16343142480296bfffd775c086599a3c86ecc42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d6cd8895bbc2cd8df18eecc4fbaf5f2ebc44cd75cbd3a7ec02d3b1fdf1a73b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a10f57e154d5ce6852d4d9e7070ac075520ffbb421a1868723a5b0e3a60b31d",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 21 attempt 0 · /responses · status 200 · 5.507 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 71 changed as sent

message 79 changed as sent

message 84 changed as sent

message 71 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3595, -0.3122, 0.9958, 0.3729, 1.3838, 0.6754, 0.0372, 0.3126, 0.1829, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0054 left_pitch=-0.0953 left_roll=0.0121 left_gripper=0.9958 right_x=0.3748 right_y=0.0921 right_z=0.1096 right_yaw=0.0013 right_pitch=-0.0616 right_roll=-0.0275 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.3402, 5.8325, 1.5897, -0.149, -0.0366, -0.0122, -0.2803, -5.4222, 8.9504, 1.9512, 0.1197, 0.0317, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1684, -0.3595, -0.3122, 0.9958, 0.371, 1.6081, 0.4702, 0.4332, 0.3054, 0.1802, 0.0093]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0054 left_pitch=-0.0956 left_roll=0.0123 left_gripper=0.9958 right_x=0.3618 right_y=0.0876 right_z=0.0242 right_yaw=0.0059 right_pitch=-0.0947 right_roll=-0.0375 right_gripper=0.0093\nstate[joint_eff]: [-0.0752, -5.4222, 6.0103, 1.5849, -0.149, -0.0317, -0.0122, -0.2393, -7.1453, 6.0923, 1.6386, 0.1734, -0.022, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3729, 1.3094, 0.5591, 0.1093, 0.3061, 0.1799, 0.9954]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3563 right_y=0.0861 right_z=0.1014 right_yaw=0.0088 right_pitch=-0.035 right_roll=-0.0155 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.4632, 5.8325, 1.5604, -0.2027, -0.0317, -0.0122, -0.0205, -5.6, 9.1829, 1.663, 0.1392, 0.0171, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0d6e833ac52ddf484536760ca16343142480296bfffd775c086599a3c86ecc42",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92d6cd8895bbc2cd8df18eecc4fbaf5f2ebc44cd75cbd3a7ec02d3b1fdf1a73b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a10f57e154d5ce6852d4d9e7070ac075520ffbb421a1868723a5b0e3a60b31d",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-0Nt2jCnMK_YkWl639lMoGs1gCbNjUPWriNmVYC6ATbKisdeB2M4Dw10pdUDejfME_AD0membGJLuNJ2j_rNYekVmh8LcYohRCvJXuiznvNznyv13Znfe4dNf-sAypTuxQxAzBPxKHB4RSfbfXlCDnVd1402UA5m6OoYWd0umzGOzLFh42inFL4c0RfTwELUa_qaeniwJIPm2_lAMSYk6QcLmhx9pWNPYILh9Qer2zlVVicl-2zAUY8w0kySKBiBE12E3pnG0J5OBBviPDCQSO48Ki4WQnHY6E43_l1zsHZb6yyuuUmd5sgaYjbGC1aYiFgFXbDyOrZMvRSNIjhU37EGmg3X34qZTCGFpVUdEtS-bJHWpXP-iTP3cThMV8jyozZyiEXGcOOqVDdlqSRHlnak02-JgBkGqdo727gTxfgmuwR2OGxEBQBjGTvEP4bF9XPGS6SeaMiqVhEEWDzdmurFWgjQ57BYhMy_TJYoTAUQ66InDCojUgdILM2350EdaQ2T3ywFgdRdddo29KuoFWLuFa6qOYic_jaDsDFB8_En3JuRH8mNAFTw5HySFbmyQYbiX4plvODNcVzjGwoa6RH3VWSuOdj6iqoUIzvAD5CsQty0l1MvsNIngnJKClg5jgZFJxqiZObxhOuqf2iEegJhIZ_EgMUA4ol6P00SzwuXmPRSsQuq10XRtHp8VszdPuYNX6TNjoM6ktWH6vimoM4ZUpyVI68ZydC_MMb4qVaAOHqpnnRoss9BanwlrCLuvmuukabeHjRMJ9M-S23xf3eLuC9TWgJp07_wecDmQYcFVmTvbx7aXZHTTkbk7Iqqk0M37_t-8d7qroMEGr15roC_qiWMnX0SDA1kWYfHqTdjo3ItBlwF8qB5lhdR-9q5zcL6HXFj6gdDVsCFv-L7wjgUiOV7KfJR0QlkenTAzlSXIaH6InAYFi986yYzwWHIRrYpeWYET8SxFOITTntcCp0_TaLl0BYkI95wId28mIH93wmKgrdRRHmCRSoXtT-iS0ucSzmx5z1YRNPQbnTsRULi4qhfY-dQnp3y5EQDoiN6ay7UNHUvw5n19AsQyA7_qeUlwll7Ng7QsF-nqd8-DoXh4WkbAUrJnbiWLGWt9dPhT-bThwYp5J_BkA2x8xEiEZ9fvRZVEK55UeGoGzwBTfnnBrf8Y0_-43o_JyzSqADD1xfXt49uDPUjxX0zBuY8lcmUQFc3EFHNj81_mbg33o6BmkqdeHTlKw9IuHHlLL_qTX6Zt8-hhnU56FDQhuFWfz2m1uc3_DDxlHui53Yqtjee1x6U34D8F-USgK_peA022RgBBtJd-sobTvHdc7M6dStSVvROsz_N_cE0ezZtUuQqZqD7vGS6frjc49eKkwUAf7b31urDFeA1Pll8G4EqswbZkedsfVuwmL0R_WHb_yxvfuhHL0TYVxAynarZjjxCPsd0u4o3O5mtQ2d2xwbUpLHjs_g6ysupqR4AFY3V1jbAfR3JmXXoTTRm8CTftA6mPOhvQEwXU0BGc7dHYo_ZZmxOPCQ2MmMPbOqm6T2JMBkeQ8KTqlrF58wPPHIU3xcVTxOlADAnqyXMyB23sZnI2C4Mc_AWJkaHEzB5sQepM9vZR3-7K9XFGToLWU6fHUaySnnl1jx_9Sf0O4eFzwtFGHXcVRLjBZwT-_ONGRttE6w-5wGHYZY2ferkIOgAWnfpStvI-snhL_PDCcfUa7IWye0XxwvM1FfaKa-r7rslTRUKde-sBSEt-ZClnYeVOKkd2SfNKtvoibFIw6u1dXDgPDoNtEFqjvxaQ0y_7n1sRX8IHGLmoflpJWP45PhxFoa6GxPCJPvwFF2wsDur7CEyO6RuCDhJF92BPq4NOeAeyu9rYXVrnaPL5RMtiVJfJCZG1MTbieh0ZPoO--v3j52v4XkXpk4ng47rXPW7hp8GWPdFRmpjr9y7aGE48cJ1HERdP09enWlRoKlvWBV4xyDxlxV0r3exg9wED13ZCNyGpTcg16PZaV5-pc06Ttk0NhX-JzIOVo2E_tItQvCncCkFwepFQ0m_sfiZJwdLWDPN4r7NqsHGY8gZlMlO8gyKfQb80=",
  "id": "rs_00c34c0f0ed476e9016ab44fb1073487d08d1f1aae59ad10e0",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.135,\"right_z\":0.12,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The open gripper is again over the right bowl center. I’m shifting the grasp point about 4.5 cm toward the bowl’s left rim, so closing will trap that single wall between an inner and outer finger instead of closing harmlessly inside.\"}",
  "call_id": "call_dxs2sfJ1W2nbW69GISsJDXG7",
  "id": "fc_00c34c0f0ed476e9016ab44fb2ed0c87d0ae1b251bb5c609b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_dxs2sfJ1W2nbW69GISsJDXG7",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3145, 0.9958, 0.5076, 1.4406, 0.6849, 0.075, 0.3855, 0.2424, 0.9983]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.096 left_roll=0.0106 left_gripper=0.9958 right_x=0.3687 right_y=0.1332 right_z=0.1024 right_yaw=0.0443 right_pitch=-0.051 right_roll=-0.0249 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.2581, 5.8325, 1.5507, -0.1783, -0.0708, -0.0122, 0.2803, -5.4085, 8.759, 1.7411, 0.2955, 0.2125, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ea808ac00880d5d14759d521221a0633ea1460ce7a666fa7b01371dfe1cc2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5999187097375c6ece0fd69062a07f72b1a588478cfe56601566b37d85ba5c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1416e3f3a92f9e113b9db7aae40a50e7c7e6652c5344696ff312d87796a006",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /responses · status 200 · 4.673 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 75 changed as sent

message 84 changed as sent

message 88 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1688, -0.3599, -0.3122, 0.9958, 0.371, 1.5913, 0.4847, 0.4324, 0.3099, 0.181, 0.9983]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0646 left_yaw=-0.0051 left_pitch=-0.0952 left_roll=0.0123 left_gripper=0.9958 right_x=0.3677 right_y=0.0891 right_z=0.0351 right_yaw=0.0026 right_pitch=-0.0651 right_roll=-0.0286 right_gripper=0.9983\nstate[joint_eff]: [-0.1846, -5.4085, 5.8325, 1.5214, -0.1783, -0.0659, -0.0122, -0.0615, -5.5179, 4.588, 1.3993, 0.0659, -0.0171, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3729, 1.3094, 0.5591, 0.1093, 0.3061, 0.1799, 0.9954]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3563 right_y=0.0861 right_z=0.1014 right_yaw=0.0088 right_pitch=-0.035 right_roll=-0.0155 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.4632, 5.8325, 1.5604, -0.2027, -0.0317, -0.0122, -0.0205, -5.6, 9.1829, 1.663, 0.1392, 0.0171, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3145, 0.9958, 0.5076, 1.4406, 0.6849, 0.075, 0.3855, 0.2424, 0.9983]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.096 left_roll=0.0106 left_gripper=0.9958 right_x=0.3687 right_y=0.1332 right_z=0.1024 right_yaw=0.0443 right_pitch=-0.051 right_roll=-0.0249 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.2581, 5.8325, 1.5507, -0.1783, -0.0708, -0.0122, 0.2803, -5.4085, 8.759, 1.7411, 0.2955, 0.2125, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:99ea808ac00880d5d14759d521221a0633ea1460ce7a666fa7b01371dfe1cc2f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5999187097375c6ece0fd69062a07f72b1a588478cfe56601566b37d85ba5c15",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1c1416e3f3a92f9e113b9db7aae40a50e7c7e6652c5344696ff312d87796a006",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE-6GqOdkH6m3hXAZ7VczxFFX5gEGncv0ehJRfvZglxTQyNbdo5952KnaYnZye__IhbLYR_9d4hKrbPFtrLHoDpgtYcFSPxm0oocvdgBkv8gp3aoUfZNf8cvck_GBrETrMbpYciphOVm-y0wHnhkHng1wdPzQ-OoiFX1W6lwX68STiZ0DbTzSRp1w8CAck4IIPTLYPziGMkRSYmuZHs15SR-MJpW0wPXQnLmeSHN-DDl0tu2W65xAR2j0SG91d3C0U3gqflzQu2dJxHdXby8UklWJZbGVVL_afT76eF6Dkom8WfMDfe1qylZ-ZEBnXzWV_rApOFq3J4RDsqTVjqjqE9FAetN0ks49qZ9Rehdqln3dSOjL4_LhsPu5ZEhbQ3JOICbFxy4nspGDUddssBS27q8yO2djIOkss8sN8iTWdpEdBoblq75tSwV4meNsFEtgpzvNgzLCmOf_V6EkArdFnzz8_J5LiWUmRBF7IzA9TTJj8oFdD0j5_xdWc403cHxs4mMHkomo2DY8sEUZc_aFC5CletP3XQwtu3GuxDOsfTPPGmmkALZmmphAvKMAocpPkKbUOdWrhA4U1a2YamLBTW9xKrggEABpNwMF_rKf5CUvtljOLzsYQjutTdDLQpF3r7NcgZc55FFnKf2H50x1FFUD6inszFExBdY_s3oTYhu0yvBDrjZpMvlo2jh-ciDE80q4joATMFxjKz7R9MJKK766FMGKQCOPKIvuzx7xoI3cNJSWqPq3RNe9hZNnW8bp_4AYFnOex9vu8TB3KxkxQovCvvzflUrfmeNvfBu-h3UefW01qci0A-atakqhDr5DtzBV-FgVrJkBwEp21dXRRIHDnzdS5ZTGVCtLhzUAbGOHKUhIR0VeLJoB2ouR6MU3P8ko3agx4ULEYvUNeQ7pYvNHmjpYBWvufhI2770OkJnWAQDd75Cma6FzP1NsFVkmX_O15CL2so1iASoB4d9zxwrj-0trAVROI7KqogUzQY-bB4HdjYi4mChiNFxB5AXQsy34tqL2qqoSj1szDVJ-XtTitxD7l9pCyWqKnzaOdQH8XF_Cy3ZZCegZtSCxgS2V2YzMxF7C5QjOvrrXktmFtI8ytlf9erqQ_tlqFV66sG6fZjh-Vwb-PZwT19zBI2LyEXZy13H7X0SRELFhS-0BTOMqfzfjPp7KSEmG4yeUE3mcXMJbkPyCNnkSwhVpLaze85oa9uUoxvYqqfRbPhN7gHL0vxq4jA-0cye2NH1VIDcQ1z_AREQkTctwC4FREtKkgS7bNTML3bJ_2864JWzn01KMs7wNchtdQ9GviuhkIRzUTBOoGSKO0lmwwa592QPeMHAukNuOFcpRCnltrkLtrnmz07eQQtno6n0yvSxTbsg6VBHPKPTqTMAvbvVs9PntA2P967xPRz_9xX9okG_23rSO0kqpB3Y5Orr2-TuMirFrZeiDb6nWVUsRticpLD_MK1Cpx3YFD0Tr5MfYHHj9D6m6o7wKABQ3jTgtaClU0sD6k4C9nV6QSIupX0hHBqPbS156mmw_HByLt3_gewugwxESbEBavMqVKRzhXXIHm2p-sjKSTcBMUhI-t2BIk-ZyUuTF79HBmpExPw6E32Pey4sktgsb-JcVHy0RB1fWHJD-WDoeKJXaj1Z1sqkH9vaxiQIW9JgEIeTRNepg-8bgLXel_F7XHQG0fWwaWgQf6iY_FkysRqPq-B_y80tJ3yr8fuY7yVYaT8qGtMWqIyFZ3B5gBjhd0W3oaY8ZykRd6WZC5uSu4nNcK1KgMWktv9Pgjtyqp49Ae03UHcYIc6ctC2EQXvwNftdxWKAehn1yEVNjFg37UtVkaTSLn-onof0Bq3kLHi0dzJ2veLpuzNSxi1YA06NDJ9hJUYJ77WA_ewKtxqOvp8fYG9tok2xOMuOraZ28ELZLc3gna2JEesoFKB3R6cVXHIK833NrGPT0tBSG7F2ioRlduL0BZ7PmedMKJ8_SPLnqQC0N24Dkz5rN8H9U3gz6iOU3fA2Z8631E_L1y7ZaJji3GjcSwm3z5nDtLWCIN_APBY_ugniRzMenOE7GeS2-mP58JsMaC_e5mTmqFPAM-lWW6eTxqqtSDnaas9AKRCGipjy0yfbcU4C8mHvvKFWhIrosxSR_C82XPgROwAtgcRMrmbs2m3p8svcQ9CL9ru6yCV5PGY9l7qAvxBz-_MjXxM22VgRnuGVerr956q5ButrHo1OxixqYyU6h1C9bu-MJYc5RIAND7j1vuuKv6sXTkEYFZ2e8E10PtpbdnoS5ljBZMVpt8oRzOI8VXOqFfy0oimMcpzYieXexA-yISaSMMMJNBGu3b_PmTwyPnm13cDfQYed-oD7vUw-xA5twZBEQGaOYXz5Gp8uDLS0CzYEZpwshcKZiZmDHmzw6SqdGFbjX16ZRQOPNwpF1kHJilzBqOJDq7kVKj_Kbhej3TWGhiK15Q5V8fHvHlBOr52sdnmVsMeYW4ktTVHl4XBPnyUweZwEB-XnpuPtr5F7fCTJZDq7hczjqPozolQq4mPkAZ7rkC8FUFf2KYIM_E4tKJBKtBIa9LFvr-44KSYqWvc3vh6fal36OvqXk_zEat5CivkFk0dBGeRuY29u26-LewaIhCaudHkDXQfamB0f-8AoOc3jVa_gK8xj7GJgmAtL4O6K10xxkQ1OIhjeSJfVXX_Sh4ti0bthNL3aMxMZKG53RlkQ9UK0Za0IKJSEyWH_WYAz2oSnRAdvA_MwC71kzUwyGOIZYN-PZWZ4JBAZlCkgRFkLArA4AFXha2wz_Fs4u0f5eai5OSeeaqqPi0PWNucWBKAv8v3XWNB_Dfrqz5ZOd5eTI3qxcRepl_t3x41enXOKBeWUzO7spwhrefmms8otHsNXoPya69OFzH7jjA==",
  "id": "rs_00c34c0f0ed476e9016ab44fb6f77487d083b87dbbb5af5541",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.369,\"right_y\":0.133,\"right_z\":0.04,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The lateral shift has placed the bowl’s right-hand rim on the jaw column, exactly the single-wall geometry needed even though the image direction was opposite my initial expectation. I’m descending at this rim position with the jaws fully open.\"}",
  "call_id": "call_VW5j5UalW8kwEl3qAUWa9LZS",
  "id": "fc_00c34c0f0ed476e9016ab44fb9bc6487d092c66f2688af1f9a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VW5j5UalW8kwEl3qAUWa9LZS",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3603, -0.3149, 0.9958, 0.5236, 1.6505, 0.5266, 0.3717, 0.416, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.3555 left_y=-0.1004 left_z=0.0645 left_yaw=-0.0034 left_pitch=-0.0954 left_roll=0.0106 left_gripper=0.9958 right_x=0.3546 right_y=0.1264 right_z=0.0221 right_yaw=0.0201 right_pitch=-0.1042 right_roll=-0.0565 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -5.4222, 5.8325, 1.5653, -0.1832, -0.0464, -0.0122, 0.3487, -6.8444, 5.4496, 1.8193, 0.3785, 0.1245, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7399a8ced15d353180cd35c21795e3e519d1eb01b614ef46ad99e9c95a9fe635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a423375f37a196663d9b2e6738e5549420a539238d468d86209d56843c63f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475f0a8cab6d9c92ba1a0d664cfd6225d5b322745a24f39e1bad0d50a653cbb2",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /responses · status 200 · 2.98 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 79 changed as sent

message 88 changed as sent

message 92 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4452, 0.5514, 0.1684, -0.3595, -0.3122, 0.9958, 0.371, 1.6081, 0.4702, 0.4332, 0.3054, 0.1802, 0.0093]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0054 left_pitch=-0.0956 left_roll=0.0123 left_gripper=0.9958 right_x=0.3618 right_y=0.0876 right_z=0.0242 right_yaw=0.0059 right_pitch=-0.0947 right_roll=-0.0375 right_gripper=0.0093\nstate[joint_eff]: [-0.0752, -5.4222, 6.0103, 1.5849, -0.149, -0.0317, -0.0122, -0.2393, -7.1453, 6.0923, 1.6386, 0.1734, -0.022, 0.6911]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3145, 0.9958, 0.5076, 1.4406, 0.6849, 0.075, 0.3855, 0.2424, 0.9983]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.096 left_roll=0.0106 left_gripper=0.9958 right_x=0.3687 right_y=0.1332 right_z=0.1024 right_yaw=0.0443 right_pitch=-0.051 right_roll=-0.0249 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.2581, 5.8325, 1.5507, -0.1783, -0.0708, -0.0122, 0.2803, -5.4085, 8.759, 1.7411, 0.2955, 0.2125, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3603, -0.3149, 0.9958, 0.5236, 1.6505, 0.5266, 0.3717, 0.416, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.3555 left_y=-0.1004 left_z=0.0645 left_yaw=-0.0034 left_pitch=-0.0954 left_roll=0.0106 left_gripper=0.9958 right_x=0.3546 right_y=0.1264 right_z=0.0221 right_yaw=0.0201 right_pitch=-0.1042 right_roll=-0.0565 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -5.4222, 5.8325, 1.5653, -0.1832, -0.0464, -0.0122, 0.3487, -6.8444, 5.4496, 1.8193, 0.3785, 0.1245, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7399a8ced15d353180cd35c21795e3e519d1eb01b614ef46ad99e9c95a9fe635",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:47a423375f37a196663d9b2e6738e5549420a539238d468d86209d56843c63f3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:475f0a8cab6d9c92ba1a0d664cfd6225d5b322745a24f39e1bad0d50a653cbb2",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE-_MA35m4SG68GQwHgnH6VrZnM6KgsXcMY8kE7HcjUmu_Zy8gRMJV55kGx4eXfyumePzg6JpTOoQ6AiAqKawezZSTtFNPh3gcRwTdh7DjT2e2RNHvSf6KrAlW4iaSg4DzUF2ZjsXRU1sFf4kXUgn9mtPn4eTsJZgOIjSHGQ2L5GRcW0BMLqSH2KV_GZE1eRER6Aj7wJJVHVn1Mi-DskPx7pp7iaJo8Hl77mGRneaPQxzUDWMAITBRjivytNTizdHbyNyIJdQEIQFM_35T1Q9MunevJJAPX7BUaqlgDCZpZmO_3kP50hWM2bfk5ojMDggSF7ZS4QpgQt97qeKyRJUbch0H1IleWrflnxkHgLjZqbopk0OK0bJLHBCgbhuO_2neaeY6VgInAxSxahKawuID4IUK5694pfLrVtybfpM6DuxuN_FL-gL01BTaFB_Io0b7S2pPHF0JSn863E4W-jFOYUAGQwGwRxGWcf18KRvExliYEd-jDorCmeqvG_hDmIy0KpVIMCIpgzR7_LaohJLdbR7zVjFQ4Dt6hC0N3NoijQJnpxNNkII3A42kjLTymNvTEhlt8h7FAbz6ETCTKsFUft9nGaXBr8DA2KXlTxu4l5f2-DyK_XaGmISLbNaaoQr_UUG1cxnGQoEytInsevOKdGl5k99u57SIKrWxCZrm6qHtQXp2Hato_UEJTaH3p7tmjTpuAfFlEq9PIke9s4h3ZSHrVotzTXsWT7wMBNgWvv6rhGwE1YBUj0N0vhrTYwoZXxZ-_XSMImezSQ2V4d3HDSCcGqwjiIH3fQWwYa6DsAiMh4K0mEeyFsP44QSS2vHCdF-M1l-OLtPlC9XTJvyBEPyQIL_ppXvCPw8R7w3e2JhoHy7Nj1CAw2awkwM0So2q7lwfXWIgBd5oMbJozpstIUnKLUvAv7xjz2MdfNUuJAT-kcYrGMsv4JBjoiObLKSsXmoJ_JpCb7vNs0VC3KQll809Nmg7lAOsFpkJVd08ZySO3MURG43_LGrFjekJzvHIJM3Js02sbpXZSYvyY1Uc5pTbSK8PtrsQxt490y3P1fEQIe_V0VPujaym3pIRjas74_Nz2v0Yn1chH-QSqRoIOPM_ycFbGFiMIlrLK1gGp8_DUosw2iLP0__h7kRLFGApuaY5FUYZdE9Rw5MBb7WM8PQ6lYar9DCkKBwUdIm5hFkNWl_WOsstclXZSHuc9m6NJayru04FvFr12IEVU62mheS8SH2-V4AL55z9MYEHCS53l2weNOixttVG3M-d1ZIo6OIltA71Q-nw0XvI2L17YCJ6HDjReYVOOj4scDXRAVogsEy2cq6iSym3Dej5_yd3SORslMgrNCh1swmxGJ5Ty37DFXMhvDVZ1d8js4E7MS6cf81HzI_h4zsZ0JJXGZ21n8g7zTD6Wm9Coi1v26sE_gpoL9UpLyh5sG5fJp4eETsBaHeVlB_TAmBX58nuJ75-aHhOM3RvyaV4oKA_3m5uxqs6_cRcGTpay4YVIfrtg4U69Bi_DqcUwI9RemoKu_2tWLXuv9goXFHJvrcpwbKd_HlleNSNS8Avjdotv11SO5KgA8gPc_XzTEWTgJeEqGTBuzgU9YNHAMezWfq7QlXuLivCRuzM__AYoqP4d5lv21VBNm-LkjCHQLSIHRxFpyRtHGDG0OrwmXqddDLTK3mpkXmsj9OLbVLrXNm_N_QSYE8Igfi4N1lkbyCbtd4nwxQmiNXOHFazOOT4OHlccSVabt0Xe-AIrrEz-hRM5Oj2obPnt6gnyhUwAw0xIDQNY1tLAyiv8TKLVIPTAiRMzK0pgB2tN27zhGgSdB8VaaUzlBW7j8G_Lhwxi2-RMgxO_0YdfAL5zbWpPCP7ksvmJsDF67tJW0UwxgINFR1jx0z6E4yyUpkw6ZYFcAwGyzUBwHC1YR1Ma1c2zTRLBrDuo5qOemw4DkKKM5TrH0BR9gZai-LfknHyYCNjR4Rw5cI79uSmY2Qfuf6QCl00DLt_P1pIs1-OXmMgwQga75VhKvOpElLxpPbNqaUxiblsBd2SC0e5qcNARhxaGFYF4XMWUZZanmtbyK9lZiJJmv2b4q2fVxM8NWKr4E16szCSCIyY36l57cbMwWUl2EZ594XJsj2crWpRxqzEzySHHMphfRgwO5mbex3Cg_Ks6JqkzuvgUHKs3jY3OPS9aC7o9H-RnuvMp2kv0htlJzjwYS08HuZThlndf4VQIo45NMODJjeSdKezwzpzAtNfzcBNkVS5mUwHoy60cr3JlVoIqNEYQmsp5Z8FWbzKrm8Jr4qWZtZ7TIJu_ydIDQo2kFl_mYEvcu_ZNbqSiPQOo4TYBwGt1M46ukkKO9Mk-jGEJ7eGrkJVexO5yZTu3f1wjo_6sPzd-0fqlf44UI7kN5OUgm5vM2sL2dufhn419E3zRWhYqmuSeggorJuu-FBvjwf7IXd2GTamDvsIQFtZwGYVcDIYXbS1-Q_b8=",
  "id": "rs_00c34c0f0ed476e9016ab44fbca99887d0a8ad91acd9e836e5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"At table height, the left fingertip is outside the near rim while the right fingertip is inside the bowl, so the rim wall lies between them. I’m closing to pinch that wall, then I’ll test it with a lift even if the final jaw width is thin.\"}",
  "call_id": "call_BqrCWI2xmDBtPYvhZYTSeXrj",
  "id": "fc_00c34c0f0ed476e9016ab44fbf159c87d094198a73ffd4ec96",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_BqrCWI2xmDBtPYvhZYTSeXrj",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5274, 1.6634, 0.5201, 0.4923, 0.429, 0.2676, 0.0381]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3672 right_y=0.133 right_z=0.0371 right_yaw=0.016 right_pitch=-0.0118 right_roll=-0.014 right_gripper=0.0381\nstate[joint_eff]: [-0.0752, -5.2444, 5.8872, 1.5604, -0.1636, -0.0415, -0.0122, 0.1846, -6.065, 5.7915, 1.4286, 0.105, 0.3101, 1.2381]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e909b623b4d37295fdd58263fead5450f9705e9d25045b50459c1039d00edd91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f143cd6b1feec69d0670e5c0316b1a93032ad0f5ac078145ab0d4358c417a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e760a8e88d987152bd9469ecff74ccb79ab80390cfdefab76ff3bdebc579f256",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /responses · status 200 · 8.626 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 84 changed as sent

message 92 changed as sent

message 96 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3729, 1.3094, 0.5591, 0.1093, 0.3061, 0.1799, 0.9954]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3563 right_y=0.0861 right_z=0.1014 right_yaw=0.0088 right_pitch=-0.035 right_roll=-0.0155 right_gripper=0.9954\nstate[joint_eff]: [-0.1162, -5.4632, 5.8325, 1.5604, -0.2027, -0.0317, -0.0122, -0.0205, -5.6, 9.1829, 1.663, 0.1392, 0.0171, -0.1929]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3603, -0.3149, 0.9958, 0.5236, 1.6505, 0.5266, 0.3717, 0.416, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.3555 left_y=-0.1004 left_z=0.0645 left_yaw=-0.0034 left_pitch=-0.0954 left_roll=0.0106 left_gripper=0.9958 right_x=0.3546 right_y=0.1264 right_z=0.0221 right_yaw=0.0201 right_pitch=-0.1042 right_roll=-0.0565 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -5.4222, 5.8325, 1.5653, -0.1832, -0.0464, -0.0122, 0.3487, -6.8444, 5.4496, 1.8193, 0.3785, 0.1245, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5274, 1.6634, 0.5201, 0.4923, 0.429, 0.2676, 0.0381]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3672 right_y=0.133 right_z=0.0371 right_yaw=0.016 right_pitch=-0.0118 right_roll=-0.014 right_gripper=0.0381\nstate[joint_eff]: [-0.0752, -5.2444, 5.8872, 1.5604, -0.1636, -0.0415, -0.0122, 0.1846, -6.065, 5.7915, 1.4286, 0.105, 0.3101, 1.2381]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e909b623b4d37295fdd58263fead5450f9705e9d25045b50459c1039d00edd91",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b7f143cd6b1feec69d0670e5c0316b1a93032ad0f5ac078145ab0d4358c417a7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e760a8e88d987152bd9469ecff74ccb79ab80390cfdefab76ff3bdebc579f256",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_D8ivHBfY_FV-32nMG1918PK1Wr9jw34EufoyVac3mudu-ZQCKJrGJggST4Ef49Fd-JC7LQ6_0OzosAAzF7_1uTS8d6-b0zSeyxJ780JYITLFnyl2TaXfebM7D-PqGQ4cWDutrIY_MzPw7EEMliaNFE-Dmj6OcLN-XIWWCIyqkBKCI-VBCgrbF0q6CUfzYXKYG-xh9KmmRlJhKDHfx6ZjBeNAjJo2xtljpkn7eRowi6rJfALDS0n2RojeSsrMrI-cZxPQRPAA7ikji43FefAQdjAVLYy9TZ2wGIQVmbx_ytN7voJH2acJBwVSrTLjXrpOrDwzl01GrNkp9YnMdKtBoERjI-dRRoQPPm_qa81eLBqccF0OhqMvPYBO8RW0BahJrAc2mWMe0MmiX74ZcLGEhzNOYz60nWmY1mDfRDkJ7ia4Wu9SvumJ16_KYbg6dpEaXzPsEok_9kJsqpbn9WLzTgexjpXbmXxZeIBCVZMGJ2db0htBdxop5gaQSuk3kRzwGjgjrkCabDKws_fW4M-r09v_5lKjF-iIYFnqJIqwHu0pPBI11LBYAR6A8MKKhHW43yNoZ8FWQrkxMA69xujs7pv9sI_DT8MisKXY0WgI109-JAp4xoLXMzYM4oWq12sqmcttudNMMYDdG7g-l3ivQUpxDAZWda9RwlFjyRd_bGfeP0b5Ho6i8AiMSesnnEAY2d5TKmmX19WXwJLQP_a3frApIJiYS8ZZwrJdOBT9r_0P4bLjx2jMFgG-K0ZCCqI-7F-IvQUShTnm4Fvci_sAj-4n0R0e6BHA4w_aaE23bZMJvtqGIhvIH99P9cgN7pzv8ho4wFE9VBzFZF9My1SlVmiBRoF2UvHMSo6t9dPuI7Mp89a8nxuMebuh8pggbh3D8aMzJdgWxM5c5QAljoA-kdaOfwbi65j19nKHOw2jspPIJDSjI9aB6MmzKdRm22qwjwGX1TQq-U6Jn1M8j0CMR6cYP8PCFZuREb2rORGPRmbOCMsDrxOUKIK_Xt84XIVhqejfJHRcPczi9X3qJ6Jg4b9oEni2D-QhCnShS3_yfNE7CcBxZjR5GduCMCiS9u9hpAD-_FhtgG2272sr-g2WnQPmKQU2Yrumg2bVFMJBgHYyeqAOp-TdevEG50v2zCVftQHkCVPMlUu57tA6gn30BGeT77PqgsWoQhaBRYQeBQUsQ-qDgIepuffoVBsncDNImcxTGISJSysRIbyCdZWtS6nTflSa-0bFDivhb4QMzKINdLBXZmefzVaoBfRaWZlR7TV6Uowo9bUUolDKSWxHHNoPXm7C9eJx2gkZ1oy2UPbDNRpfHYwx5JeMfWltnmFZxYa7rAZiaB0h_v1DW0ZAl41VN8-Nkq5i98V3erdz_Yxa7K0QkyY7KjrNRiwMuupVYaozTqsCpsQYaGiMyouQHHpzYgEp8yLjAaKkeeLDNesHyNOW3rz_OIwZ4Wk4NDZbRR0b6wzUEowfiivQQsg2pFwjtPIGXT-iur2ScsEpuVJ9zjRMrrLHTmyzqGUroqxw62rSBZzqLvOJErpXQe6tfS425Gi6pS0m6VBf1bEYn4nJ6iahF1qjwV544aNvhyC2diOEP8cMhBBp1Fs0O9yRO_GRwJ7z39o6FMr9lGh-tjMZvCIAS6xrDY45Eo00f2xS9pJyVESssnKXDbdf2scnMoVYc87XiX6Uob5NOUFnBpdDB4Wda34a6D1WIJWp55GaIVJbAOmWXr4TT3FLGFCWXX3c_klaZwOSuFdKkVU2SnSz6DLJbCe25KNEtzj6oFjY8",
  "id": "rs_00c34c0f0ed476e9016ab44fc1f1e087d0a93c0065353fc54d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.1,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0},\"note\":\"The jaws stopped at a thin-wall width of 0.038 rather than the empty 0.009 seen on center closes, consistent with pinching the rim. I’m lifting about 6 cm to verify whether the pink bowl moves with the right gripper.\"}",
  "call_id": "call_FxVVs8nxeeWhRcT7z5uz4bCg",
  "id": "fc_00c34c0f0ed476e9016ab44fc2dd9887d093bb73bd5449e959",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FxVVs8nxeeWhRcT7z5uz4bCg",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5285, 1.4769, 0.5938, 0.2283, 0.4297, 0.2703, 0.0415]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3636 right_y=0.1313 right_z=0.0833 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.014 right_gripper=0.0415\nstate[joint_eff]: [-0.1709, -5.3949, 5.9419, 1.5946, -0.1734, -0.0562, -0.0122, 0.3214, -6.6393, 8.9368, 1.6728, 0.232, 0.1148, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4fc7bbe1ed21a035c14189b957ecbd3d813aa59b6372a096783e6cf39a0486",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5346affe9bf746ec27bcf0a55b13725bc801877ca7f1646cf52e13608ed594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a472cde704bd70bae75b201f068f1310e1070cce3387f5ac8a379b0c4699273",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /responses · status 200 · 5.376 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 88 changed as sent

message 96 changed as sent

message 100 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3145, 0.9958, 0.5076, 1.4406, 0.6849, 0.075, 0.3855, 0.2424, 0.9983]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.096 left_roll=0.0106 left_gripper=0.9958 right_x=0.3687 right_y=0.1332 right_z=0.1024 right_yaw=0.0443 right_pitch=-0.051 right_roll=-0.0249 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.2581, 5.8325, 1.5507, -0.1783, -0.0708, -0.0122, 0.2803, -5.4085, 8.759, 1.7411, 0.2955, 0.2125, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5274, 1.6634, 0.5201, 0.4923, 0.429, 0.2676, 0.0381]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3672 right_y=0.133 right_z=0.0371 right_yaw=0.016 right_pitch=-0.0118 right_roll=-0.014 right_gripper=0.0381\nstate[joint_eff]: [-0.0752, -5.2444, 5.8872, 1.5604, -0.1636, -0.0415, -0.0122, 0.1846, -6.065, 5.7915, 1.4286, 0.105, 0.3101, 1.2381]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5285, 1.4769, 0.5938, 0.2283, 0.4297, 0.2703, 0.0415]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3636 right_y=0.1313 right_z=0.0833 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.014 right_gripper=0.0415\nstate[joint_eff]: [-0.1709, -5.3949, 5.9419, 1.5946, -0.1734, -0.0562, -0.0122, 0.3214, -6.6393, 8.9368, 1.6728, 0.232, 0.1148, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4fc7bbe1ed21a035c14189b957ecbd3d813aa59b6372a096783e6cf39a0486",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f5346affe9bf746ec27bcf0a55b13725bc801877ca7f1646cf52e13608ed594",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1a472cde704bd70bae75b201f068f1310e1070cce3387f5ac8a379b0c4699273",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab44fc5e01c87d0874b9ef6afdc7029",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.09,\"right_z\":0.11,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The rim pinch did not lift the bowl, so I’m switching to an internal expansion grasp: closed jaws can enter the bowl and then open against its inner walls. I’m moving the closed right gripper back over the pink bowl’s center at clearance height.\"}",
  "call_id": "call_QDcRXnsLOYFasNrH0OblO22i",
  "id": "fc_00c34c0f0ed476e9016ab44fcb56b487d0a5c87c463aa3b606",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QDcRXnsLOYFasNrH0OblO22i",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3706, 1.4166, 0.6037, 0.1524, 0.3302, 0.2001, 0.0343]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3726 right_y=0.0872 right_z=0.0908 right_yaw=-0.0244 right_pitch=-0.0474 right_roll=-0.0197 right_gripper=0.0343\nstate[joint_eff]: [-0.1299, -5.2308, 5.8598, 1.5849, -0.1783, -0.0317, -0.0122, -0.1436, -6.6256, 7.788, 1.7118, 0.105, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6dc9a76273285230ef66fe832c691f0b0d9ca939fa8aee61f363752ef5c97c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c646d454f5da0fe67bfbfaf5d07674578cab94d6cef85cd6db25da10282ca48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c86b8602509c60e54c50edba298108fbdfe9cb1b62218b33d8f88aa491d5188",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 5.083 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 92 changed as sent

message 100 changed as sent

message 104 changed as sent

message 92 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3603, -0.3149, 0.9958, 0.5236, 1.6505, 0.5266, 0.3717, 0.416, 0.2668, 0.9984]\nstate[eef_state]: left_x=0.3555 left_y=-0.1004 left_z=0.0645 left_yaw=-0.0034 left_pitch=-0.0954 left_roll=0.0106 left_gripper=0.9958 right_x=0.3546 right_y=0.1264 right_z=0.0221 right_yaw=0.0201 right_pitch=-0.1042 right_roll=-0.0565 right_gripper=0.9984\nstate[joint_eff]: [-0.1026, -5.4222, 5.8325, 1.5653, -0.1832, -0.0464, -0.0122, 0.3487, -6.8444, 5.4496, 1.8193, 0.3785, 0.1245, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5285, 1.4769, 0.5938, 0.2283, 0.4297, 0.2703, 0.0415]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3636 right_y=0.1313 right_z=0.0833 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.014 right_gripper=0.0415\nstate[joint_eff]: [-0.1709, -5.3949, 5.9419, 1.5946, -0.1734, -0.0562, -0.0122, 0.3214, -6.6393, 8.9368, 1.6728, 0.232, 0.1148, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3706, 1.4166, 0.6037, 0.1524, 0.3302, 0.2001, 0.0343]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3726 right_y=0.0872 right_z=0.0908 right_yaw=-0.0244 right_pitch=-0.0474 right_roll=-0.0197 right_gripper=0.0343\nstate[joint_eff]: [-0.1299, -5.2308, 5.8598, 1.5849, -0.1783, -0.0317, -0.0122, -0.1436, -6.6256, 7.788, 1.7118, 0.105, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6dc9a76273285230ef66fe832c691f0b0d9ca939fa8aee61f363752ef5c97c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0c646d454f5da0fe67bfbfaf5d07674578cab94d6cef85cd6db25da10282ca48",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2c86b8602509c60e54c50edba298108fbdfe9cb1b62218b33d8f88aa491d5188",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_SjD3HzIiw_hHbqtbRO58PqjC_ppoGMm6jjqhpyQekKEBHNvUMGx1BQqvWnHIWCczb89S0RJ1qk5y-woDs50nXBmV24Oi8ehj35gECqhiW6RhEgseqlMAsHccJB98pH8XvVYpSOLF2RYot8Xfa-c2QtPtDkDrhw5rtgvqM-t2--EoZ_diRO1CU4uq-NbjAYkuZYqBNhzAMwlALndsimj_4ie5vu-woOyISs93XuILNrai2VIIG_US08wQ7fC34un-ugrNBZQ8VEqlPbsX9rA9NljR09tZs3emC-1TTtGUpyceUMhYln6krBrF9__mfrWmgERz3FQwMKvRcQnS94uS_76d4K5RnqKyN_PYq-QGcsTpUGfBLBBTeh6mc-iaV4KSWjTDixjZWhJdB6foJ0zpR0ONgpoFFdMzl5aLX8Thyui9r1MCDhtTZ0xhsgB3WAichxpJ4jkSUTNeicam8kbUlO32TOdzkyyKhgKP8kAenN_g3t3jmRPJEbC_zT7F5v3RivyVC7UkCiPVlP95_ND2CS7QzUcQyIHELOhBWDNUozVLaetIpAVhoEdGAFSRwrwSlWx3VnjFSjkinQcqW1TPB8p1JpBZdB1rNqvR-DxVxLuHxZkkJtS6zfdBZE4lgegI9Ud-MqlLICYWHYoGvBoyre-xPRN-TMXM1lcspSFXJE-52NE_jSPSRszGq5LS0_yk114ZbPILrr8BZuTUEiC9VFve56W1MQjR9khYBEvewjVrwObtBY1ffhKIoPmwbdzM_itNmWaS04ajNW9EGazbmQUv3UwXUP-ygjQmfzKCu_2aKreib7R6A4x5HMCtjmRAnB4FFefyno98u_Tg7sWiHH7Z_eyCyEfwj0MlsUdzn7dZkiI47yCW3QKr-sO3iUxHQhLQBm79Sn71J3jfZXZ0NoL1OyaouDqN1P4fyXEE8RDM2yDWAABNPRhdE76hE7-d0uL3gRNqPSTNstFKx3-9yCZh0EnMvc4GKi83F0GUasJldw_oRn06goabRYxFbWmpq0bEuKoXJr_KSgFuTw5vG3JuG3vRmWXLLcoh8EEIudDxFQQkqOuvxnRROAadWSMZ7fjCQ1wTa6PtD1o_wllbLgt2cvyYxe2JNa2E9UrS9XkJUPbAdw78sPzzRE_TUOlkNmDtGb7KTJmx0A-YxUdiUCB1FNsvO2i5fVddCeoEqfuPZCru2er5bqzIvevDp3VLASXQnp7Gz7FSgyl6WqeKBj7rt1NOi02u9BZLebFGTXjKrAPRW00p4_Zt8lSa0HkG9uDrH7TiT57c7C0Wlhm5SfxYtWh2IdZLnp0lsuTRBxJiyFiSFKfcVHFk0w0SzuPqIvdo7Bu-xzoyORv6htA-Qo15lJgZ2zXwfWJ8TXavmT6rCaKl79TAUdAywBIEZXOXSb10lBBzuvDt7GbeacxA80f_X9UH9Yglo7PVQXA-L0yrA7CcmIAf3wzS5egqRDYdtsKhxYU6hfnCGs-e1UrwmNZZ3_rHQi-26hBG0tXb_gBdDNGDZPKkdnpazb_m_XRUJrjIVv4CcIKMRWboM-Ghr-Y89W8pfyu-L7F0TV3tF3N8oV7mHiSLNSO74rhaOR_UJ2VMRqUggOYLN9OOPb0he62ETt32NEujHnn_coUsNKSiCccdUn7cVBfyNSCpe5jlaxFRQ7AbYL6n4hsJ-Nr-Ldp-e91TvExEdwesuVPJEghdk1NUa1sUEm2RRxjJboimqR9BhneMPnL3d74ECwWSrRzGpcjDrj7ZLYPPTyNpaZyPFNJx2FjxeiPyHpX6rgaIcZ74fQoObKcdLeQMbjLBMQTRMzfwagpei76n3iiTD2xl0QGml0tvbwHu-CBR_zhYA37tTpMZE7C71iLzs4ZATeYhnQ6WQl96lP6zUA6AZwELDOd0KNqKEXJWyRWRpTsJwoG5PvBdJnPVXRimXwDloJYWClAj3cdBXVOPnDEyD-32i9COQxv6K_dilx6ilOhGqz5JrzRBiF8d1PXBb5wRU_9gX5argZn5tGAVbYtqs2WdK1GettDF96KrQMcT71mLasYnKzivXHHIARu9Ezj8pudKAdCiYmzmnKU1JnqsThVuDup8EMwiyWcW5cAmxab25bUa7_faMKQrqrMI1cEbECYcUoxgiHQliqv9yaMfdX9uXehmZj84wcK9ADWLBmzx6sTe9eeIfHQDubsi4tdGsYsM_vho44F03y3sq-ZoF4BSNYh1zKj9bNsKgA99077lg0biaMv9UyhjW5c3VdCjPApo02RODm8q6akiPJ9kaWxqd7PiSar1jL7Fq8cpq0hTGlY3y3goZI9dKpqKp-jMi00r05gjBoGj80fC7SLFhcgjjl-iTxaqL-bbBAiocw-uhHSNkQxjc_jO2sIMBGs1PeP_RvFuuYuLRP9x9z4a1BYWt2gbkjlWB83g8Rk2Y7e4Buj_M0TqV1fZIbs13GNNydcyCf1lbPmGWeQK8yaG-e6ugzICa-NNtHVtEviUGzlmPT8e0WbRgcLoPej8se1RcLChyGbnC3eTIgRi-Vj58Xft4rK6SnneoN0fztLHG6st45zxIfm90VjXST6IZW_ptb7L19--5yGjZ0cYVA_Naa3zUIoxcw0uLI2BzbFc1ZEZyVliBGCRs1W_ssW5VZZ7_EPKCY1ctrb2iv4zRv5QkTsNBicTiy9GPHx7nrhAqRPqPWVL9wgTWJHDBZjVGR5wwBjSjKGFtx3WneBqC_0-uimiVDk1CpYeOOaiqTWqwGJgo",
  "id": "rs_00c34c0f0ed476e9016ab44fce524487d093fd0e1cab72b1aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.37,\"right_y\":0.145,\"right_z\":0.11,\"right_gripper\":0.0},\"note\":\"The failed rim pinch slid the pink bowl several centimetres sideways; it is now to the right of the jaw column in the wrist view. I’m following that displacement laterally with the jaws closed so they can enter the bowl for an internal expansion grasp.\"}",
  "call_id": "call_8hMCWkSV5EVlMJ9FgG1NWkL9",
  "id": "fc_00c34c0f0ed476e9016ab44fd17dc487d09ffb50fb1c498f8e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8hMCWkSV5EVlMJ9FgG1NWkL9",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3145, 0.9958, 0.5613, 1.4685, 0.7143, 0.0189, 0.432, 0.2966, 0.0327]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0039 left_pitch=-0.0955 left_roll=0.0107 left_gripper=0.9958 right_x=0.3623 right_y=0.1447 right_z=0.0961 right_yaw=0.0298 right_pitch=-0.0835 right_roll=-0.0341 right_gripper=0.0327\nstate[joint_eff]: [-0.1983, -5.4085, 5.9282, 1.5995, -0.1929, -0.0513, -0.0122, 0.1162, -5.5453, 8.7179, 1.5897, 0.3394, 0.232, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192dd6ed3c68ff93db4a429c79641361d9bcbeec7501b4f90d2a2e37a29ca367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e35a7d7ef88277607461d40809c80b9c0a4740f96f8246e62a204b87dec26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1108d5eae7be7857c2e6f700f6ae584d12388e22520a345674e7ef8b31b72d6e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /responses · status 200 · 7.299 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 96 changed as sent

message 104 changed as sent

message 108 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5274, 1.6634, 0.5201, 0.4923, 0.429, 0.2676, 0.0381]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3672 right_y=0.133 right_z=0.0371 right_yaw=0.016 right_pitch=-0.0118 right_roll=-0.014 right_gripper=0.0381\nstate[joint_eff]: [-0.0752, -5.2444, 5.8872, 1.5604, -0.1636, -0.0415, -0.0122, 0.1846, -6.065, 5.7915, 1.4286, 0.105, 0.3101, 1.2381]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3706, 1.4166, 0.6037, 0.1524, 0.3302, 0.2001, 0.0343]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3726 right_y=0.0872 right_z=0.0908 right_yaw=-0.0244 right_pitch=-0.0474 right_roll=-0.0197 right_gripper=0.0343\nstate[joint_eff]: [-0.1299, -5.2308, 5.8598, 1.5849, -0.1783, -0.0317, -0.0122, -0.1436, -6.6256, 7.788, 1.7118, 0.105, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3145, 0.9958, 0.5613, 1.4685, 0.7143, 0.0189, 0.432, 0.2966, 0.0327]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0039 left_pitch=-0.0955 left_roll=0.0107 left_gripper=0.9958 right_x=0.3623 right_y=0.1447 right_z=0.0961 right_yaw=0.0298 right_pitch=-0.0835 right_roll=-0.0341 right_gripper=0.0327\nstate[joint_eff]: [-0.1983, -5.4085, 5.9282, 1.5995, -0.1929, -0.0513, -0.0122, 0.1162, -5.5453, 8.7179, 1.5897, 0.3394, 0.232, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:192dd6ed3c68ff93db4a429c79641361d9bcbeec7501b4f90d2a2e37a29ca367",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3e35a7d7ef88277607461d40809c80b9c0a4740f96f8246e62a204b87dec26f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1108d5eae7be7857c2e6f700f6ae584d12388e22520a345674e7ef8b31b72d6e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab44fd440b887d0ba2cf0732fdd901f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.362,\"right_y\":0.04,\"right_z\":0.11,\"right_gripper\":0.0},\"note\":\"The overhead view shows the right gripper still on the pink bowl’s left edge; increasing right-arm y moved the tool farther left, not toward the bowl. I’m correcting in the opposite direction, toward physical right, while keeping the closed fingers above the bowl.\"}",
  "call_id": "call_FMUai0NwNDem16jALTjM59H4",
  "id": "fc_00c34c0f0ed476e9016ab44fd7449487d08d6c463b1496e045",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FMUai0NwNDem16jALTjM59H4",
  "output": [
    {
      "text": "executing move_to over 9 steps (0.9s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.1772, 1.2854, 0.5976, -0.0147, 0.1642, 0.0593, 0.0307]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3585 right_y=0.0385 right_z=0.0984 right_yaw=-0.0049 right_pitch=-0.1199 right_roll=-0.0431 right_gripper=0.0307\nstate[joint_eff]: [-0.3214, -5.4359, 5.8325, 1.5897, -0.1978, -0.0073, -0.0122, -0.1573, -5.7641, 6.9128, 1.8388, -0.1294, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb54cca0b815f39d178fa6493b367d1e808994cce3ec2c91c3275a1edd51cef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10fe28a04229324426a347ad9c5cc13f39abfefabdb5a057ba1c5cadfb453a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec029ee8d0a49ec9cad6a8f6d09e403ebc5c6933931f12a4dfcaaeb2e420f441",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 2.127 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 100 changed as sent

message 108 changed as sent

message 112 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.5285, 1.4769, 0.5938, 0.2283, 0.4297, 0.2703, 0.0415]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3636 right_y=0.1313 right_z=0.0833 right_yaw=0.0151 right_pitch=-0.0149 right_roll=-0.014 right_gripper=0.0415\nstate[joint_eff]: [-0.1709, -5.3949, 5.9419, 1.5946, -0.1734, -0.0562, -0.0122, 0.3214, -6.6393, 8.9368, 1.6728, 0.232, 0.1148, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3145, 0.9958, 0.5613, 1.4685, 0.7143, 0.0189, 0.432, 0.2966, 0.0327]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0039 left_pitch=-0.0955 left_roll=0.0107 left_gripper=0.9958 right_x=0.3623 right_y=0.1447 right_z=0.0961 right_yaw=0.0298 right_pitch=-0.0835 right_roll=-0.0341 right_gripper=0.0327\nstate[joint_eff]: [-0.1983, -5.4085, 5.9282, 1.5995, -0.1929, -0.0513, -0.0122, 0.1162, -5.5453, 8.7179, 1.5897, 0.3394, 0.232, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.1772, 1.2854, 0.5976, -0.0147, 0.1642, 0.0593, 0.0307]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3585 right_y=0.0385 right_z=0.0984 right_yaw=-0.0049 right_pitch=-0.1199 right_roll=-0.0431 right_gripper=0.0307\nstate[joint_eff]: [-0.3214, -5.4359, 5.8325, 1.5897, -0.1978, -0.0073, -0.0122, -0.1573, -5.7641, 6.9128, 1.8388, -0.1294, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4cb54cca0b815f39d178fa6493b367d1e808994cce3ec2c91c3275a1edd51cef",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:10fe28a04229324426a347ad9c5cc13f39abfefabdb5a057ba1c5cadfb453a14",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ec029ee8d0a49ec9cad6a8f6d09e403ebc5c6933931f12a4dfcaaeb2e420f441",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_gYkP_s7P_IgNNYkqzuIeqHEjo_bp2QHGVTKhkZeOX1_FNyqM-8B5_LznRLHdM39dCzfxftJPoJK3-cPKljJOjsSeojWq_BFNlZrY264tpPVtFG-QsO7Y4K2vx5EF5eFpGpjcviyd_gYRXDeHOrnokJ0PRlgALvvfwRowLT_E-O5UL-OsttRQLbwTnBDvKc2-tq2snDUlcvf5hddsWTLx9tkrR6BGfR7xb5_Ae52aCVFO8ZayW8rB1LoaBFmSVyecsOxzR8_Vowe3MfWCamRB7scr8ZGhI9ra78KMf4bSeNvhgBDFgSPKi9sfQqpVAov6ixIdeB0bcXeUYvC4qqgpY2LrDtNynekRMC4Ui_6ZiypeHxeMPKxRrVSBf24aK6lVdllU5OsqIilIu-bjk8_yXLU7AUYeJ6RlJ0uauAx4UdbndkOyGXxOS8UnovUrXPHYy4oenJF2RXlxFlh1XE3GoQXsp6zuz31UDPMpyTrpV3c56S7x35F2IQ2f5wXSIwQgiGkXGw_e7kIr2D5bt4IVLVdcDwDNygNcYWgeRn2Ay-PDU8GDzbAognnPe9q3HJz9R5NCfAKnAdWd-dqeG85K_3cOpHElUvjBuVzx5lzuTrcm540MZmLWppOgSGsI-hT3DmllItL2S60WpiXv_RB3Hj__2SuMNJYmfPpYJhhafjJtBruou90LbnY7v-NYfT1WMOjcYJ6VqsU7P7YgrMo4KyG5b16lSehkeLjWnUxtTc6Jn2gozXwPzjtYnk0X6OFUJlBBb2WVJ3mYYsvFrdcN7HlZUr0WAXUrSOKI4an184NRv6vh3KM19YDHQkHe7_4_DCYQkWrfk4Cflua92XiA27SpbA0hAVIdweES2DGdTmn2plyu0fdL_sEuXc8ydCr1RlNX2LkFgVuOJoSb2auO75zjeMYkxQWTk-xlnVSrvW6V1YzBo5PT_RSnzBoAg_H98PseWXnKg1QBw5AhlFv5SQGbm_j0MDbc8uld9jrrk2OID7EbqyPaLgQn8_H_Cv31pLDuKB_gtvtMdAh0VSHnWsjWehTHHspbxYdGNNWKHvrmgSOMeHe-3_GLcDw6DStwNNvPEhhrBoj69KZgigwIl6HMNsmJXWs82x7v0Svd9sDCb6LByATnTORsR693i0GdwIMtVtanFTxBkVzbhfv9vBOOyyht-HZW6y0XkegWCRNWY34UHOJ73PjUjeU1t_O8lpsylYBAogXVmmFEl75UILjSuv-w9ErRhPCGzT_ZIKxrO6LLDCeNwb9GKRnTHZQrhdSnXV4Riiqw6tURc0tGfj7AXmjWsjGzLrTd-YG0Zs-Qmk97ydR1Cmpp2AjDZ3cNywGGMnG-BtDmdSmlF1XHsYqCaK2L3WMgv7uUhdvSrlxlYOTx14fmkWdk3beYxqFRzO5J-Z1PXckmdBc-yiwh3DI9qerFyzoOPaaOG7pNqmPxI44r3ZbxnUih79kYGidEFqGqG2rkoe6rKrxUsNf2RjGijHmGap4DSYD1JOa4-5S4HfrHEezLElPXtY3NSPHvW-2LtJuUVB-2Ic6YQWNylWg-hCp0y3N0CsskNn6HI9FwFMgDbAdkQA1drnLTMdQD27fYY30a-jWm4hSWBBwKS5ts1dnEWrSLSV-Ks-MoNnwsL00nYpKo7cRDEdgfHBLbIKEH-QEymW2pPwqc2VWD9pn3UvIAm829KgVeGnneyiuzBhZfrUdtImIzwB656-xANpRPC4EC0TnKmWu11fAu_s-Lf-pSI4QA3B58hpZnR7MPctA3dz0bIOlcrWRw9_NEjIYmY_KUN95URQe1YgE-g2qrFSiRNm-8_6GtuLI_hCjBDjQQlpKsXfmtn4PHF8aIrTVYmB2W50QyrqQpFFAK3h2OLKt9VYx0Y8vL6EnOdJkHZReGuk1zWWTR30qfl_dgL9XmF2FpcNxXHGY_TcrTQM2dAstF0xsnl0psyl-Eqqt2Q_WprbE1I9ZMJ_IUukRp7HIqVVHp1_jMoXwz6gJOUmo05-a0oYjjF0B5mMjTKja067dgEhsitif1Y3EP74N_MY7iN_5C7lYGvHFpx7od3z4IzWGTxRIHOyaztgJJvVp67Lfszt18oZO8H2_xxyRLZp19j34Gl2Y7-aTOvjikMFBABeStc-SKhryKYV5NWyieSUyMsV7KEAudUVVXeogMKXHrATkETv_V3kMiPIwcU1VZbMr_npJk5K6RoC9i3jNGHgS6OlywTbiGq1vIT3pDpyO9NuYo-9xFZqDeByuHLCM2aB3FypSPzkkwuJWZcYZgIhEKhd7cTelgb0y68QXVwuNd0056YS_lCgkqLUejL3vfEDrJYjX6OAVTX67MJUrp5OBDmqE4Wo2eFO4z1RxQW7r-rXsERc4GiAaeJWHg8wCATxy5QI7aGPmFmcTXCZ4MQTRYbJwLElxh1Vhr_pN7KKeHpRRTk9WFzMtceGmzQ2am1GzrfKTMy6KjUBnienQLDkQUU2JmCOHt8HeHnQHBvI2pbVDqhSi06MzvtPVpTGUNIw0JaxOoo6TiOm81Tj7R78JyvgMJ2UupH0aLN9gz0HPVZE8Wlcv_Nn0apHb_8RjbDQWzt27Oc-RfRlB1_U8O6cGqCbgzD3_cGTPb1Hc2lyp1fAv_oo9CWfSE_LVinEZ-H25K1PgFi-i3junZ4a8TQZUY5qDsz-Oc3T8meT91tsa4TkSdilmVAvlXaS_xZKl03NiyTTnqP2j2jGk64XMz1MA28zevDA7KCMW4IAuX1a31rhabMqDFJ3R6Lb0kIi0que9n7rbjc_6T67PIPGdn806sxxd4-kc65DIa98A-gikNIXkpehK0wQMZAc38LP4sBvR7hw4hR_CvUU-AnwCo2hsVkftbVoWdBX7Kql8uQRDL5mDf7CSLq9iNigJgZzQ==",
  "id": "rs_00c34c0f0ed476e9016ab44fda960c87d0bf96d7e30a65ff07",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.358,\"right_y\":0.039,\"right_z\":0.035,\"right_yaw\":0.0,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":0.0},\"note\":\"The overhead view now shows the closed right gripper directly occluding the pink bowl center, which is the reliable cue despite perspective in the wrist camera. I’m lowering the closed fingers into the bowl before expanding them against its inner walls.\"}",
  "call_id": "call_7EVXdPYyabqMeFFCN0Gl7JTK",
  "id": "fc_00c34c0f0ed476e9016ab44fde287487d089b9baa3d2dd2882",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7EVXdPYyabqMeFFCN0Gl7JTK",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3149, 0.9958, 0.168, 1.4929, 0.3607, 0.4919, 0.1497, 0.0475, 0.0306]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0037 left_pitch=-0.0955 left_roll=0.0104 left_gripper=0.9958 right_x=0.353 right_y=0.0368 right_z=0.0328 right_yaw=0.0055 right_pitch=-0.0605 right_roll=-0.0328 right_gripper=0.0306\nstate[joint_eff]: [-0.0479, -5.3812, 5.8735, 1.5556, -0.2076, -0.0562, -0.0122, -0.1983, -4.041, 3.7402, 1.2186, -0.0659, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2509a3534ab167505060f607b760fe8f1cb2fa3be34cd2639f3b2334599e621d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b837e2d3068f7ce4677a6245f68e718dbbbcc4fbf62610e5dfd98b2afb88fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f524874a1978609ef6f161be10fc8244ddb02cf9c00cb4119fc2c3ba39bd66",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /responses · status 200 · 11.28 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 104 changed as sent

message 112 changed as sent

message 116 changed as sent

message 104 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.3706, 1.4166, 0.6037, 0.1524, 0.3302, 0.2001, 0.0343]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3726 right_y=0.0872 right_z=0.0908 right_yaw=-0.0244 right_pitch=-0.0474 right_roll=-0.0197 right_gripper=0.0343\nstate[joint_eff]: [-0.1299, -5.2308, 5.8598, 1.5849, -0.1783, -0.0317, -0.0122, -0.1436, -6.6256, 7.788, 1.7118, 0.105, -0.0073, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.1772, 1.2854, 0.5976, -0.0147, 0.1642, 0.0593, 0.0307]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3585 right_y=0.0385 right_z=0.0984 right_yaw=-0.0049 right_pitch=-0.1199 right_roll=-0.0431 right_gripper=0.0307\nstate[joint_eff]: [-0.3214, -5.4359, 5.8325, 1.5897, -0.1978, -0.0073, -0.0122, -0.1573, -5.7641, 6.9128, 1.8388, -0.1294, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3149, 0.9958, 0.168, 1.4929, 0.3607, 0.4919, 0.1497, 0.0475, 0.0306]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0037 left_pitch=-0.0955 left_roll=0.0104 left_gripper=0.9958 right_x=0.353 right_y=0.0368 right_z=0.0328 right_yaw=0.0055 right_pitch=-0.0605 right_roll=-0.0328 right_gripper=0.0306\nstate[joint_eff]: [-0.0479, -5.3812, 5.8735, 1.5556, -0.2076, -0.0562, -0.0122, -0.1983, -4.041, 3.7402, 1.2186, -0.0659, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2509a3534ab167505060f607b760fe8f1cb2fa3be34cd2639f3b2334599e621d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b837e2d3068f7ce4677a6245f68e718dbbbcc4fbf62610e5dfd98b2afb88fcd",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92f524874a1978609ef6f161be10fc8244ddb02cf9c00cb4119fc2c3ba39bd66",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_imiDxySI2PoB5tJ4lZm35Hiw67l-XwnWUmUhy7V7ZcosODGF5_kyB3gG-CwqlOrzAbHXDVj5pTYaUfHkyMIPSnNFLWTyc-U5Gbs5aPJBOS35E1aubGnQYm67qmX1OWLasIGx7nqwjG21wdeJxnonB2n8KMXBEqgx-AhbhFW0TrnRBItO76XBtVYbFTuv1vika4Aj5ZGz-fQ0wJD2V0t7vaIolGLAamuGd4WZrOel4U7lQ7x4CcBYNBPLOWAGeFch-E_PWnrqD7p_ZzfFGlETO0SJZ33ga2Gm1sWFJbWQWF0C2zkoObyYO6X-Pf4vSk3-u1M9UzP5a8y6CYgenk_v_ZWdd1X2FwiB2du30tFL80EuTb_dno0XdAej7lbU19DhtFeoxYtMPrK0PS8vA943oohtFp_9yVSwuM3VxYDghDuYQavc5wjkcK3BgB6Va_A4FIRA8619NYrl5teAmgTILWKA9eU46Go4imK95u6eY9-16G-hEAZAOcd-UIlZRTpEdPtWLB1dndKvFnkS_A8TJZsM0rpNRXT5IJeHpFpVHnKY1fXjBhAqGL-l7GBxFz8--jfjx6WfDnxUzVk6aoPUgNEGyBjj5f0EurfGOWfX16kqV37m6dHcIl3BP1cWH-hWJyvb0ovNjSvhgl_nArS9A8-sHDZ9mx-z-lGThwDGV7GRTPzmGLPiMSzzSnCKj8eDT3F_3nxgEyOpbudtLS_yCMOgRfIOYH3tdz4DGqT2OIlqUDNMVrUoY7XrACpPxzHhnzDMk8ONiycj3pMR-bZn2eX0CmFEajLznB2eJOq9R4b2wITrpJdX_jBDt4YlTWgFEY5rdpY8-1ZOA4fAPkVjl-TO7aAgRiP_NYj9aufE2ZUvGlK4GPIASfr4tP96aBbN5_GubugIPEI9lr__CXS_4EOSq74lrH2iz3NtXhbfUR--DkHhz_Sa6qS1BtGtPGX4yH7vewjQ5R6M0qX0qyXYt3vutm-qI920AMj6lRS_xNmy_9RC6uHD7qYYWx2qtxSLMsTOZT_PMJ-xnCgOis_vVfufIzHmHrocjzkJZ8RrYqKAqTeJIRFy0BKdOt3600MGzO0JO2_sxz7esEU9ctPDAMVCBXcQSkwe_sgUmUfjRV51xL63Omc4qRwNMUHWmgU0N_QbjiU8vWtS1R9JGEGoUBj-6rgLzUMcog5ARn3zhD-XrZLRenE-h4er2nrxCrdHafBqu3h-SYCzaqEiOIc131_oP-isVMOpyUi0tAuIylqpZCyucreeGo9CPU-VlTYuT7yBhKt_RrEao2kwqUo6Pw30czMYZxM2i-0Uko5secRM0IzRNlVpKvC9S81CBfOt8V58sk1hfqUPkT6Icgxx3Nrpa_lshbg3811kKDV3SNQTU3beTcFMYDPouwFk_UdYoKdkxXAOFzxZwJQjLS2jwqA==",
  "id": "rs_00c34c0f0ed476e9016ab44fe1b9b887d093495ab4e5ea75e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1.0},\"note\":\"The closed fingertips are now down at 3.3 cm inside the pink bowl. I’m opening fully so the jaws press outward on the inner walls and form an expansion grasp.\"}",
  "call_id": "call_NxyOvMdt8VBCw3FlrzPLudEI",
  "id": "fc_00c34c0f0ed476e9016ab44fe2280c87d08a43c2d44a74d5b1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_NxyOvMdt8VBCw3FlrzPLudEI",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3149, 0.9958, 0.1684, 1.5074, 0.3412, 0.485, 0.1478, 0.0433, 0.995]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0039 left_pitch=-0.096 left_roll=0.0103 left_gripper=0.9958 right_x=0.344 right_y=0.0357 right_z=0.0199 right_yaw=0.0093 right_pitch=-0.101 right_roll=-0.0416 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5653, -0.1441, -0.0366, -0.0122, -0.212, -5.9829, 6.4205, 1.6874, 0.0024, 0.0415, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7dec31997e3ae576dcd8df261e2ccd7644a63ddfabef0a96ea8f5f7890bfb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c246cebe79104d6b3b222d64f6165d7023e64f48618a7bde78e78fef1a7b48d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b33e3018de7d0148a5dc5344ed9d892ec92f1cb30fdf105de343f02a7d83c37",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /responses · status 200 · 4.983 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 108 changed as sent

message 116 changed as sent

message 120 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3145, 0.9958, 0.5613, 1.4685, 0.7143, 0.0189, 0.432, 0.2966, 0.0327]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0039 left_pitch=-0.0955 left_roll=0.0107 left_gripper=0.9958 right_x=0.3623 right_y=0.1447 right_z=0.0961 right_yaw=0.0298 right_pitch=-0.0835 right_roll=-0.0341 right_gripper=0.0327\nstate[joint_eff]: [-0.1983, -5.4085, 5.9282, 1.5995, -0.1929, -0.0513, -0.0122, 0.1162, -5.5453, 8.7179, 1.5897, 0.3394, 0.232, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3149, 0.9958, 0.168, 1.4929, 0.3607, 0.4919, 0.1497, 0.0475, 0.0306]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0037 left_pitch=-0.0955 left_roll=0.0104 left_gripper=0.9958 right_x=0.353 right_y=0.0368 right_z=0.0328 right_yaw=0.0055 right_pitch=-0.0605 right_roll=-0.0328 right_gripper=0.0306\nstate[joint_eff]: [-0.0479, -5.3812, 5.8735, 1.5556, -0.2076, -0.0562, -0.0122, -0.1983, -4.041, 3.7402, 1.2186, -0.0659, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3149, 0.9958, 0.1684, 1.5074, 0.3412, 0.485, 0.1478, 0.0433, 0.995]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0039 left_pitch=-0.096 left_roll=0.0103 left_gripper=0.9958 right_x=0.344 right_y=0.0357 right_z=0.0199 right_yaw=0.0093 right_pitch=-0.101 right_roll=-0.0416 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5653, -0.1441, -0.0366, -0.0122, -0.212, -5.9829, 6.4205, 1.6874, 0.0024, 0.0415, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ee7dec31997e3ae576dcd8df261e2ccd7644a63ddfabef0a96ea8f5f7890bfb3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4c246cebe79104d6b3b222d64f6165d7023e64f48618a7bde78e78fef1a7b48d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b33e3018de7d0148a5dc5344ed9d892ec92f1cb30fdf105de343f02a7d83c37",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab44fe5bfb087d0ac9b05db87f0d7e8",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqtE_ubA4ers_757eFRFXlHXbKgr5MWCptJKqZkck5q4IuN749Qtkb-GkbvSEiHTBXQhC-ZDSpzPoDe08i0S3_hQqY3p41FtXk9sYBc7UlK_hrx1DUbLzOazEr0YBBIuBGkgyqcgR2NgrGljgO35X1ccIbZ3DneYGTWK8c8hfxJ_9zckewcOwG-HlUfoANJjfWZynwEUl1dQdH73qdffh_HXamatSBGazjbY0CRp-E5pAK1ucU_Qt6xWAxXA77lMJv6Th-5NmtKacBN6RzjS5ZDTHHB4BRLK14YajWtHpUm-EWryVVHSkpt6kMdMx97Z83b_QjyJN5v-iPm_zEirnxi5YlokSDjV4z4YewNp6n-zNxNW1XqpXjC51lems_d1w7CNJ5AQdpSHc4Oac57syRZHlyezXFyrJsKwFD4QW2QGQuzd0_q5FEXnIetAbN1hbl8fkzzjIWLeyogwBgU_UHgKftmqUesL_VNGyM9rU_LEAI1uOkFcquR24cuvhihO4OxZfX30vfveJ6Cf0rYoVU2k_Eq3gkC9sj8J91a7a-w_uEraOQc4I5Iki4n_YMZd7ra_pmApaUBvWgFrPCadTZe0BKnFY_5BPayvFmMBtU-oEmA6ifLKEyDlQ6ZwdjZQjkjA4lPTFQGqbSVvXllTyw1_Gi2uliY9ug625vPUTcIn-M-1uTyQapvq7x77gVg1uIdZD8xYSYMpsF6DIhjUovuzBHN1CAxqz-rdPmKGqPK5rWh1Kqv0LROlwZttGcR39lx6_dBndLfJGB18WCz6SSrDWL1M17LDoXwVZd0SbTTlQY7gY5TRg08wOQ2TMGx7A8cNaszKHNjwpSUPcozLoi8HJGR7iP1tE5Bk7B1z5wPlkNY7PAHkVo23QaNw-9IJliaVHseimhhNDqavGMHrR_oicgtrmvKvOpZrKornExXxewtWTbZc9trAwOL0AhfHRzMVB7y-rQM_d2t1j4xMZmlajZwF2kUw9UK3GfwphvnUcLUiD30ragYIE2BRqjTJS1DBw1PxgTEuUlg-bZBN2rhL_-zbC6hkU1ZkcG2PkKKwUJAccw9CAuJjy59yfByK9dKhJEggZ4sWVfIrsX7Nc5Vs7rQEzAxfVtszZzCgMVhobf3T3VUXZKu5xtUGknhf6XK97aTJug5G-5B7ZNgaK2Vgayb2nDDEQkkIl-bdGDHQ9pe2joN0ho__S0HPPIM6RRxJVUjV6OJHIprC9H5jbau7orRMvRnS1Cav7fTR2NQ_LMk_hnqsAP-afypWI4XMFe1hX8inLILR3IEn65ocSe3jaJq4rplutyMHz3sdLG2CTs-OS1Ai0LAgD7hD0j_96m4RR08cePzGze6uH8gdkB31sopHjOVe4IRmN0mw76f3TwMylQTGcE1bhIZyB9S9Qe1wYKbdB5vuvREbRgpBPEbpZDkCPIr4YL5rJfkeiRIiJqsyMnwJ3wUcgfX1HBarIyM4X3eAVqKwZNU8t17agju8Fmfp3DOSOH62OuT3X0eTwvbxbnOV0oY2m-p5dpj4NAeLUfs3Q5nmUbnSfaSE4V4A6zsMjq63KlOGM8J8BhdMXcTlBLKGcKQX0syPTubp0cUgAbvg1bvyDuyEoWxsYJLZBVSWNyAiTRISaR0W-Pbb5lMfe4xjXhcaXInCQ9YrrSwNCzEnt9OjkvqPCTPX_ymMzVBsUP0IyGBHfc0DniBJKGGg8t86jWOmQYEjKO0o177z-dKoWuHJR_nHd2F8bq5U1w_oIuo3utDTqtcSX2eZGjUgZsVX5TRo41Njb5RfR60-MwZzmCqE0morLFjb8CO8-tiGWJlbPUDJrWLUAhSQBPJb40I6X7R8qnpdxURD_EZ-dW7jxTjFGCUXDLvf4Ddi2MxV25wgdBZWhFBDmvgyxxgVBcdJ8yT1FsOG8hXobVETPDQoGSeDYLETO72Fl6U-0447NSVPxJ_Tsp4cm-eWnD0MaGU0bhus30-7_e22oz9tz1vsuP2fStFvoJO4Ptz-stgjng5Rt_cgp7wYTIcTXTmZbOrjPwKEAY1j3kHnUKmiJ3k8bzXa6PS6S0zFiuO3PZeS6e_BgtmIIIynNRuGSQDNy4vHB3T9dFm3MkhQkYo-esO2GUF3gaN75l-IIGIlF83hATDK3REz57MF5m9D0dvEJYakqiQs5fAnPbmdG-1UBw3RFNLm0eYKoSywh4AkCp6j6CO95iVH6EHwXzJKCILj0VW4ZqE-AkgtJf8y9rvDcuWKQxgzPrLRxmuCb8zTu4xndwnlDxED30GdoPkxwNvy0FI6QRAcNq98dzjWnH17qMaOmqDwrnUqn6xvrtpngGQbKMxzPpC0hJemsrDxfPxT45gFZXQYgd81Sk1yk0jjAfmYJ5uNKaT_aguXCUQNB2QoN52O0cLgMCxrXH10W_TVLGilZbGJuNuihNdA4CYb-tq_KB1JLt75n3CCyr4zOV6Fof9hjk_7pMxZnhtR7VUUA27F2ixKThcDUcbR99QLWiTxzXKkAIVqQED4QI1zSjFXpin2CF-ut4OLzqF76CoGkmhlrLOd7r9VgtvyKmU7EcKj4CvMmZRoTGkmbtl-M8n1YP8ZWfX-2g4bzKVC_TiMVVnCUfN21Fuou6mXtTNH8DepW7UYQHLhjq_ze-PfWZKw3kNkQ58SUPEoTercbrbJ4=",
  "id": "rs_00c34c0f0ed476e9016ab44feb069087d0ad856b0f618f4e53",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.12,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The bowl’s inner width exceeds the gripper stroke, so expansion cannot hold it. I’m lifting and rotating the right gripper 90 degrees; this aligns jaw closure radially across the bowl’s near rim, allowing a deliberate one-wall pinch from inside and outside.\"}",
  "call_id": "call_JmFAKlZ1E0RFw6kwlqyon53g",
  "id": "fc_00c34c0f0ed476e9016ab44fedb4f887d0abc3a9ba9dbf68fd",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_JmFAKlZ1E0RFw6kwlqyon53g",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4494, 0.5514, 0.1589, -0.3603, -0.3149, 0.9958, -0.3233, 2.0327, 1.4902, -0.8658, -0.9085, -1.5967, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0996 left_z=0.0614 left_yaw=-0.0027 left_pitch=-0.1077 left_roll=0.0166 left_gripper=0.9958 right_x=0.4315 right_y=0.0061 right_z=0.0971 right_yaw=1.236 right_pitch=-0.0897 right_roll=-0.1658 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.6274, 5.8325, 1.7509, -0.1929, -0.0464, -0.0122, 1.1692, -11.6444, 5.7368, 0.0073, -0.8034, 0.0611, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c31ce796bf3659a30e111a63490dc5e92c641f66f4dcb9be4f341fa302c285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f701dd665641f1b3f8212b2f402065d6966f405f5e6785aa65a9528dd9e2a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85eac1b8f5c253c4f37ec202c7dd6c1d0696cbb13f2b625acad27870d485c177",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /responses · status 200 · 4.807 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 112 changed as sent

message 120 changed as sent

message 125 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3595, -0.3145, 0.9958, 0.1772, 1.2854, 0.5976, -0.0147, 0.1642, 0.0593, 0.0307]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0042 left_pitch=-0.0956 left_roll=0.0105 left_gripper=0.9958 right_x=0.3585 right_y=0.0385 right_z=0.0984 right_yaw=-0.0049 right_pitch=-0.1199 right_roll=-0.0431 right_gripper=0.0307\nstate[joint_eff]: [-0.3214, -5.4359, 5.8325, 1.5897, -0.1978, -0.0073, -0.0122, -0.1573, -5.7641, 6.9128, 1.8388, -0.1294, 0.1001, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3149, 0.9958, 0.1684, 1.5074, 0.3412, 0.485, 0.1478, 0.0433, 0.995]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0039 left_pitch=-0.096 left_roll=0.0103 left_gripper=0.9958 right_x=0.344 right_y=0.0357 right_z=0.0199 right_yaw=0.0093 right_pitch=-0.101 right_roll=-0.0416 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5653, -0.1441, -0.0366, -0.0122, -0.212, -5.9829, 6.4205, 1.6874, 0.0024, 0.0415, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4494, 0.5514, 0.1589, -0.3603, -0.3149, 0.9958, -0.3233, 2.0327, 1.4902, -0.8658, -0.9085, -1.5967, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0996 left_z=0.0614 left_yaw=-0.0027 left_pitch=-0.1077 left_roll=0.0166 left_gripper=0.9958 right_x=0.4315 right_y=0.0061 right_z=0.0971 right_yaw=1.236 right_pitch=-0.0897 right_roll=-0.1658 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.6274, 5.8325, 1.7509, -0.1929, -0.0464, -0.0122, 1.1692, -11.6444, 5.7368, 0.0073, -0.8034, 0.0611, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23c31ce796bf3659a30e111a63490dc5e92c641f66f4dcb9be4f341fa302c285",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f701dd665641f1b3f8212b2f402065d6966f405f5e6785aa65a9528dd9e2a2e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:85eac1b8f5c253c4f37ec202c7dd6c1d0696cbb13f2b625acad27870d485c177",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab44ff15b0487d0a20243f637be7bba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":0.04,\"right_z\":0.12,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The 90-degree rotation displaced the right grasp point far forward to x=0.43, so I’m not descending there. I’m bringing the rotated tool back over the pink bowl’s near rim at clearance height before attempting the pinch.\"}",
  "call_id": "call_tj1A2GksTYoaP6crMiCX5GxH",
  "id": "fc_00c34c0f0ed476e9016ab44ff2749487d0afa262a2fee96ffb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tj1A2GksTYoaP6crMiCX5GxH",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.16, -0.3599, -0.3149, 0.9958, -0.3752, 1.8877, 1.3632, -0.944, -0.9253, -1.7576, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0997 left_z=0.0613 left_yaw=-0.0031 left_pitch=-0.1075 left_roll=0.0162 left_gripper=0.9958 right_x=0.3901 right_y=0.0019 right_z=0.1168 right_yaw=1.2774 right_pitch=-0.0884 right_roll=-0.2337 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.4769, 5.8188, 1.5263, -0.1734, -0.022, -0.0122, -0.4308, -9.7436, 6.2154, 0.4567, -0.7253, 0.0366, -0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2373a42a116bfbf18cfcb467c9126f6874c7157ac54ad5106a98401e0929d2f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79a041382e1520d9dab615e5004df6e42039600218946808561f140f7cd6468e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ecb1c00941326e88fbc94976ff7bb288e922e90e62f5fc0cd507aa030552fa",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /responses · status 200 · 6.444 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 116 changed as sent

message 125 changed as sent

message 129 changed as sent

message 116 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1688, -0.3599, -0.3149, 0.9958, 0.168, 1.4929, 0.3607, 0.4919, 0.1497, 0.0475, 0.0306]\nstate[eef_state]: left_x=0.3555 left_y=-0.1005 left_z=0.0645 left_yaw=-0.0037 left_pitch=-0.0955 left_roll=0.0104 left_gripper=0.9958 right_x=0.353 right_y=0.0368 right_z=0.0328 right_yaw=0.0055 right_pitch=-0.0605 right_roll=-0.0328 right_gripper=0.0306\nstate[joint_eff]: [-0.0479, -5.3812, 5.8735, 1.5556, -0.2076, -0.0562, -0.0122, -0.1983, -4.041, 3.7402, 1.2186, -0.0659, 0.188, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4494, 0.5514, 0.1589, -0.3603, -0.3149, 0.9958, -0.3233, 2.0327, 1.4902, -0.8658, -0.9085, -1.5967, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0996 left_z=0.0614 left_yaw=-0.0027 left_pitch=-0.1077 left_roll=0.0166 left_gripper=0.9958 right_x=0.4315 right_y=0.0061 right_z=0.0971 right_yaw=1.236 right_pitch=-0.0897 right_roll=-0.1658 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.6274, 5.8325, 1.7509, -0.1929, -0.0464, -0.0122, 1.1692, -11.6444, 5.7368, 0.0073, -0.8034, 0.0611, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.16, -0.3599, -0.3149, 0.9958, -0.3752, 1.8877, 1.3632, -0.944, -0.9253, -1.7576, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0997 left_z=0.0613 left_yaw=-0.0031 left_pitch=-0.1075 left_roll=0.0162 left_gripper=0.9958 right_x=0.3901 right_y=0.0019 right_z=0.1168 right_yaw=1.2774 right_pitch=-0.0884 right_roll=-0.2337 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.4769, 5.8188, 1.5263, -0.1734, -0.022, -0.0122, -0.4308, -9.7436, 6.2154, 0.4567, -0.7253, 0.0366, -0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2373a42a116bfbf18cfcb467c9126f6874c7157ac54ad5106a98401e0929d2f8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79a041382e1520d9dab615e5004df6e42039600218946808561f140f7cd6468e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2ecb1c00941326e88fbc94976ff7bb288e922e90e62f5fc0cd507aa030552fa",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtE_6fCPX1Ugx2he6BekWbZ2ZrsaYE8SxHvCjPQ9rpKH7i9O36Y5Ua5CS0q592vuq4bjfq6PycH1EiY9GYGymvIHmsukN0z1S6aVz3q9qkL_EJeuPgIdg1aRjzvTa2KGcFYMFLfvbqZhelXmdhcsGTGeps0t80AT-PsNm7FZULJjDkugh1cV0yJMVLIbS_CLGZr507hMTpl7aPuc_2qJN4flCa-fivB_rlMgYG4Dm_t-w0SWJ9W6BG8gX7oCztvR1BFA15ONLbVkthm_J3u6R8IhuepK9OT9OGjjIZcc5H1Wx6I8Nd9Xa6dGxiNWNu07cW8Bw6JWxn3kXmKQjxD39TI0Yrj_6NJ4jUpFMUBs0wD2BZHg2bJMcb6GBa4V_x6_hiKEBdjUEV1lizOTAi83Msd0DoAL7M8GGirnPX4R2LwUCxAgjoCHNRGhAyS67Lh1cj67xtcbNIiau2fSzBNaAr-HdjD0H9iIEQrBLci-_K2Ex7Vb2YAY4iHAMzKN61HvEdoB7TTld4wahAxKi--h2n_zL1M3TV4dSannPDE4Ci0jrZ4ZKXCd5Q19UZior_PRJ-mbfCXZVh9pp1CcU84hbtIZDGwMCQq8lo_3oCP_rnTtIpXqARcyJmio35LfS9DfnxSLsB5N8RPvw7mA8pzjnuNG6fX5UK5zlKTw2VBG_u23l17f-rY2hrxHNO6fflkeyg9znXltzMqXuu7lx-tyGD_AXVKsiYVVI3MWQ51dt1Pwod9yMCragUNkLFaeC7wSRBgiE0dI5BREmldqJ6s9LIFPsx68v0rd8KbR0M6usUiuKzWpyAC6AadDZpSjTkLC1Om5N3TUMqemiH5LgajWv8-2lVZiIo91--3tfsbsTh7c5rv0ku31z-63EiRvFglrukrUf5Gu2mio3fFN4QN2uUKDeulSgh8lzA_3QOqanZGMKvCzMr31oDo2gmURcG7nqBj1bbtGfXXNv1CZuI2-QZpRIunoCGRXNSb1KU9xPiadKtAZXWUVF8z0G3j2Z_Da_sP6k1E0OU4F9cJ7IYMMFXFLdZaPJQvz705c7tO6LTBNU6rmT_qHDYEsxeGJF3pdbDqTovMoOkDMC30tjtlE7E9SVYpPT2esP1_BGQ3q_3mSXWHV6hFrsCfCMnUMFhEFTCieda0jbxJaheI-Li-joWZ7zFgoB0Lb06W4IhU9qz3zcGVvzs4ROsIMZKl2SVT0ETKpPDe1_zOpK-IeXo23_cTVh2GyIQR5Zhn66vUDnk_LlUA-Ng6G6AUIb-k5rD7Ik5vAWVt55p_Sfa5-sw9PVCQI1pZdTcchaxOfMzJ6VPOFkq61SZwfj052DUP02d034GhGk1Fzoul_BcpShj04Q5bioLpYol-e0FGLMPXCbWY8BhEVlgFlBDZ-KF3KsmUp3VcqZ0hCtl-5heR_0ay6vseITMbOLzO3x4kzV7zojMXBS18GcR0hKiybjsacVsL9O5i2H37xdOZ-WPU231b0reGJREQFBRng6WpOeg0Wq1SV5g-phAmKfdGnqE2AaoJR-NXU0cOVQuWp205tuN2u4q-qYeQc0g1vxEvSPkLx6CdSlVfpO-gVyocYkfH-CqMyrOEu8P5IbMHnhu43n3tHd2aAPSwoI4oq_W_FTAV1oNW9wmxK60f5cyPoJTIiTgslT2nFTXEJeubUnHhZWVHTMbQYGgos-wLQqsOympG-QZLkb6KU4QeCYdn88djGokc504L5pAGlCOizAfnY6tZf4IaGgdCqtoGP9tOUM8ga6GyR8gGhmEfdimTEbDv-xNWD3okh75IfSN6H1tVlnkY8Fn4w36QKQ6qufLA9ERWJkG7YR65xGtYIyhok8z4gLp61BXds6EC2a7ihzdN63SAEuxBm0T646q3Ks3Un8bbGmQ7iu2gEd5U6JCxOgeQm-pWMmHa99d5k5HMb6x8VG_uAy25G0zZFXf7zJmPEVONM4TLCsgzpGG-laPeuSjtN_Z60KRPO5iWfAi7mFCOhYUtVBzwZhEnI8fQbPI10h6SMbpxepSXqvfXFjMSbqn3wHFMvKg2rpTnrXRR2NCTYpp2xCrngVjwEdVN0H4d62D3ycISyjlh3EtS027pjOW5L3H3Z7iI6E5x75SaQFLHDcixESU57B3kTGOTgAXVsxkXYPjmhuRnk=",
  "id": "rs_00c34c0f0ed476e9016ab44ff6e34087d08a2a9ce5ba75ac28",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.29,\"right_y\":0.08,\"right_z\":0.13,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"With the rotated tool, the readback still sits on the bowl’s far side at x=0.39 and slightly to its right. I’m moving inward and a little left to place the jaw axis across the near rim, accounting for the roughly 5 cm pose offset this yaw is producing.\"}",
  "call_id": "call_Hkv25Rv8EwtY8drAWQNwx9kJ",
  "id": "fc_00c34c0f0ed476e9016ab44ff90c5887d08a906e1b1d291a72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Hkv25Rv8EwtY8drAWQNwx9kJ",
  "output": [
    {
      "text": "executing move_to over 8 steps (0.8s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3595, -0.3149, 0.9958, -0.2501, 1.845, 1.2629, -1.2881, -0.9291, -1.9797, 0.9984]\nstate[eef_state]: left_x=0.354 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0034 left_pitch=-0.1073 left_roll=0.0158 left_gripper=0.9958 right_x=0.3043 right_y=0.072 right_z=0.1138 right_yaw=1.5491 right_pitch=-0.037 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -5.3949, 5.8462, 1.5604, -0.1636, -0.0317, -0.0122, 0.3077, -10.7145, 4.9299, -0.2857, -0.7302, -0.0904, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5cca9468cb7dd275a61a5e0a16283739b5487479b52b538fd3d66e7fc0762a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a560f67c0a6813b1179c95d9b35bc4350f77bec25f8de9bd70d656fb39cb4ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fd9aa01a71fe12a0f546f39133cd369c94c95d38e647c838d9af5b347d07ff",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /responses · status 200 · 7.14 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 120 changed as sent

message 129 changed as sent

message 133 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4456, 0.5514, 0.1684, -0.3595, -0.3149, 0.9958, 0.1684, 1.5074, 0.3412, 0.485, 0.1478, 0.0433, 0.995]\nstate[eef_state]: left_x=0.3554 left_y=-0.1005 left_z=0.0644 left_yaw=-0.0039 left_pitch=-0.096 left_roll=0.0103 left_gripper=0.9958 right_x=0.344 right_y=0.0357 right_z=0.0199 right_yaw=0.0093 right_pitch=-0.101 right_roll=-0.0416 right_gripper=0.995\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5653, -0.1441, -0.0366, -0.0122, -0.212, -5.9829, 6.4205, 1.6874, 0.0024, 0.0415, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.16, -0.3599, -0.3149, 0.9958, -0.3752, 1.8877, 1.3632, -0.944, -0.9253, -1.7576, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0997 left_z=0.0613 left_yaw=-0.0031 left_pitch=-0.1075 left_roll=0.0162 left_gripper=0.9958 right_x=0.3901 right_y=0.0019 right_z=0.1168 right_yaw=1.2774 right_pitch=-0.0884 right_roll=-0.2337 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.4769, 5.8188, 1.5263, -0.1734, -0.022, -0.0122, -0.4308, -9.7436, 6.2154, 0.4567, -0.7253, 0.0366, -0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3595, -0.3149, 0.9958, -0.2501, 1.845, 1.2629, -1.2881, -0.9291, -1.9797, 0.9984]\nstate[eef_state]: left_x=0.354 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0034 left_pitch=-0.1073 left_roll=0.0158 left_gripper=0.9958 right_x=0.3043 right_y=0.072 right_z=0.1138 right_yaw=1.5491 right_pitch=-0.037 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -5.3949, 5.8462, 1.5604, -0.1636, -0.0317, -0.0122, 0.3077, -10.7145, 4.9299, -0.2857, -0.7302, -0.0904, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2b5cca9468cb7dd275a61a5e0a16283739b5487479b52b538fd3d66e7fc0762a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a560f67c0a6813b1179c95d9b35bc4350f77bec25f8de9bd70d656fb39cb4ed8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:06fd9aa01a71fe12a0f546f39133cd369c94c95d38e647c838d9af5b347d07ff",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAB_VP-FutsuZlN_vHLCyKfXnYuwdfzmYwEXOUlmVK7ARy914eN91EqX3fQGODB-R91-pW1L52Zm9ieKHYspm8LoX0otmqIcuIju4qKgqBJOR1Q50a_OEncWykgH3bNLEODHwf4qhTErtrPHzI9aizD-Z6MPq5qSd3L9DVRcnDQyecBNr4PdrgukYrjE9VbZZCvuOPD0RHQsES7bXNNZyhzVMeg0QlvVgDgKD-NIcTWjYyN2N--gbbqXphbUHhbAf3m2PezTyXG3VQAEUAismhVnaxl3YvNHut6B5CRFzGW_wx8787JSgdhK_dbPmRsK2Tcn4k-3r9napW8sR1DGeFFx16ukV6RYFrlPYolwKpFetUF6vRM9mEPE01FToe1SqYfi5Xu9etn3Le2a6GqCJ0SRvGOyPK5zjWK2HfsH3CZ-7Z1GVwOx51qEHXHPX8W53Amq-hxziEpxAS6eWq-h5SBfhjDJncC_jQsikmm3RsmBOzaTGsEiT2gaxmIN-IG8UIb9VE-f1Qh8eRprnyMqWJPkAQ73Q2SzD0fS7rDqFqc6TiktUiDt3vNGXSeLhMOPsKQwQw0SZk9rjSiu9-SMhQXAbD6iJSkmjVsLTl5X0ta-xJppQJ-LI0ZfuTsRzgKmMbDE8XTouL4z-A0AXHdSHbhOBX8KyHXMulqUXJcUjUMRDw6BBSDEnV8hnfX6TRHiQDLBVq6_36reimFTiT7NNhexU4dii44GYqu0hnGwj4b9buPmgslyWkr1Fg9uqwUTrvdbDt1hGhK-a0NCofjwk-7sWJLkQZbrnNtOOeKm6uUz-lKcd8RJBdkOeMF1mjqtNedm-4zZkGRaN4K3St49Q8RlD5x5NW4UjiysOoId9x4Xe5YXafC35RYRHbAyp8Y3yVLtM-XnvXNaDJ5fBkUlri8xV4ERuZ_Mr1X-rxLBtg0f_zUIkPOEnP6vYaCPcIzg1Z33SoDND294Gl2-2GHTGfbT2iF2aAbXY8q3yIecoKRvpIzPwhPGnKio2xn_lqiwXsZsnbl5A97a4I0an-PJrL-1q6J5h8yRTlXzCoBdzt9_y9_XG9lz4AnPXnej15D_jEQCyKHkQOCJAvlMzl74WOd_bkhE2XTKFFKPk0jckqM_ysck8bu7W7MGd9tGjnrbkwD3gHhco1-2s9OpRB9zn0crCwH3MGISrNNHLE1U_8Q67W_HN-bKlNx2FYufEdZ9mDydPA_r7rNmF504-LLPNUHMwloPWJ9UmauMwmQKxMoOH-PZRF2rjZ6fHqHf-FCXJ6S0mnj1qnFvY7QcuIhTOHsCP3-qSyI_HPHh_Cqa-_1qpqeB8rCLgCHSLD-ubkpG5iUdkUlvMEqkx8pvLnQC_B7XoTtlh7ezbk7_XCn25OTjSfqLIhMJq5n9c8sRxJ3euKbwtQ_yUm9rMAX0PZ8QQZ3qLwxz94_zR9NDKBIbu36jr8xllXcqMxSmrbd00BcHWOSRhLFbp-WHo79etiEG6vPZppXT213F07iTe8rQTIrjmKxAvJL9J77AWCDfmCiattUD-3ejksvqU8YxmTD37DUoqqg24k-Lqy8wwTCIy3sPWD7AByUmsFQXCEzyiRJn-giy_mLSUnLPQoY6Aui1QlFiqTNp7VCpGayI2v36SM6-mENSo_9Dsj8VR_zQD3fMhPvzOLlOOXIWKHtelH87ETFJyNV6N5Dg4sSBlaLlspsdP5uocORCKVirm3MP5fhX2B5l6IVCiaU4NyEyqfnUukfXCHXgzIfvmMWBKQKPS6Q09K11sxPkjqMNoi38VsqWyYOVNDifuhTBtbu2R1EPb3W17BbaunPP7P3EAmeMMPNfV0fpPH2_RO9Aqumq9TKMfQ_LWpPDZmIuUQXNffYIg3Vy6Gy4Cy50DY9XTdJra9QNoiJJa-_hjsMBw72WBOJ6myZI64xz27Oss8zLpH07uIe-jjmgkf4hd6E7EDfgEuYBT4IJlvfUGd8cTXD_7RYJ9HOnsAIjlbiSg84kc8YudO6XjqoRGJ9HiCIjL8sgUGCx51xKE-S5bPoOSPCF-xajDzu_MQvhUhtbjdj5BqoxSuRzcnTa1KceNmkb6CYsvJRCJccQHgZqHAvZAC4vXczaPzH5LOI6gmAFNVP_ek16oOAZzHyV2AEieMede6uhUnwN4HfLk4iCHHgsSR3Gasx3f2VCoe4CDzN7ZLkB-KcjPAU3IX_yCKngPU8N2gtxJzyN7dkJNPsncK6iK54vd-i1jAY0OCcA6qflmwv7j5Zr1s-gujkBzD23lelt94YUDqQywQEb1D9tE2jL_7_dyPk_GX9XC3WZhO9fWaXrlHy7OkKAllp6O456EpbtmWKaavAUUgPolAWwHH2NLk6X3i5egcGUEYe3fOHrjD_oW_vqA9u-kuhetVcDhpvZFwm_HiZvuw=",
  "id": "rs_00c34c0f0ed476e9016ab44ffd348887d0b2206996c5e829e6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.07,\"right_z\":0.12,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The yaw is now tracking correctly, but the wrist view shows a large clear gap below the pink bowl, so x=0.30 is short of the near rim. I’m advancing about 4.5 cm while retaining the radial jaw orientation.\"}",
  "call_id": "call_QJzMvO1UJ3tJqrsO6vj3YNAX",
  "id": "fc_00c34c0f0ed476e9016ab44fff9f4087d0b4ff52991702a446",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QJzMvO1UJ3tJqrsO6vj3YNAX",
  "output": [
    {
      "text": "executing move_to over 4 steps (0.4s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1593, -0.3599, -0.3149, 0.9958, -0.2344, 2.022, 1.4887, -1.3674, -0.9295, -2.0087, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0997 left_z=0.0612 left_yaw=-0.003 left_pitch=-0.1082 left_roll=0.0166 left_gripper=0.9958 right_x=0.3444 right_y=0.067 right_z=0.1107 right_yaw=1.5813 right_pitch=-0.0298 right_roll=-0.0095 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -5.1214, 5.8462, 1.5458, -0.188, -0.0513, -0.0122, 0.4855, -9.853, 6.3111, -0.7106, -0.7497, 0.0366, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd72a08a8863d7447e178f2bbe8d285801aaec2f1d293b52b9e1e591346dd023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05105d89c6a2dbe69f60888387780fb3d7925722227bceb97fd4729beb5e2bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c83ef91e22a2912244c811544c0e092b434534687a423099a177b93046b3b4",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /responses · status 200 · 5.7 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 125 changed as sent

message 133 changed as sent

message 137 changed as sent

message 125 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4494, 0.5514, 0.1589, -0.3603, -0.3149, 0.9958, -0.3233, 2.0327, 1.4902, -0.8658, -0.9085, -1.5967, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0996 left_z=0.0614 left_yaw=-0.0027 left_pitch=-0.1077 left_roll=0.0166 left_gripper=0.9958 right_x=0.4315 right_y=0.0061 right_z=0.0971 right_yaw=1.236 right_pitch=-0.0897 right_roll=-0.1658 right_gripper=0.9984\nstate[joint_eff]: [-0.2393, -5.6274, 5.8325, 1.7509, -0.1929, -0.0464, -0.0122, 1.1692, -11.6444, 5.7368, 0.0073, -0.8034, 0.0611, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3595, -0.3149, 0.9958, -0.2501, 1.845, 1.2629, -1.2881, -0.9291, -1.9797, 0.9984]\nstate[eef_state]: left_x=0.354 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0034 left_pitch=-0.1073 left_roll=0.0158 left_gripper=0.9958 right_x=0.3043 right_y=0.072 right_z=0.1138 right_yaw=1.5491 right_pitch=-0.037 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -5.3949, 5.8462, 1.5604, -0.1636, -0.0317, -0.0122, 0.3077, -10.7145, 4.9299, -0.2857, -0.7302, -0.0904, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1593, -0.3599, -0.3149, 0.9958, -0.2344, 2.022, 1.4887, -1.3674, -0.9295, -2.0087, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0997 left_z=0.0612 left_yaw=-0.003 left_pitch=-0.1082 left_roll=0.0166 left_gripper=0.9958 right_x=0.3444 right_y=0.067 right_z=0.1107 right_yaw=1.5813 right_pitch=-0.0298 right_roll=-0.0095 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -5.1214, 5.8462, 1.5458, -0.188, -0.0513, -0.0122, 0.4855, -9.853, 6.3111, -0.7106, -0.7497, 0.0366, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd72a08a8863d7447e178f2bbe8d285801aaec2f1d293b52b9e1e591346dd023",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b05105d89c6a2dbe69f60888387780fb3d7925722227bceb97fd4729beb5e2bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e1c83ef91e22a2912244c811544c0e092b434534687a423099a177b93046b3b4",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab45003109c87d093151933f0f385cd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.275,\"right_y\":0.09,\"right_z\":0.12,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"Because yaw rotates the wrist image, its vertical cue is no longer radial; the overhead view is decisive and shows the tool about 16 pixels beyond the bowl center. I’m retracting to put the rotated grasp point on the near rim and nudging left to match the rim centerline.\"}",
  "call_id": "call_VZBI90c0fjBPLuTbThrJnlZF",
  "id": "fc_00c34c0f0ed476e9016ab45007985087d0afb08d4cb98d8b88",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VZBI90c0fjBPLuTbThrJnlZF",
  "output": [
    {
      "text": "executing move_to over 6 steps (0.6s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3599, -0.3145, 0.9958, -0.2344, 2.0357, 1.5097, -1.3838, -0.9295, -2.009, 0.9983]\nstate[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0615 left_yaw=-0.0033 left_pitch=-0.1068 left_roll=0.0162 left_gripper=0.9958 right_x=0.3465 right_y=0.0665 right_z=0.1114 right_yaw=1.5818 right_pitch=-0.0275 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5946, -0.2027, -0.0024, -0.0122, 0.335, -9.8256, 6.653, -0.4322, -0.7985, 0.0855, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16eae35af02a9d0fa8c6f2930343fae777ca70cbbe789f3326e07acc27b7b3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e93cc8a2b7de617bc5a0d0094b22a7303eb6969cd5003e5246cfc28df3ec4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a606f7b9bda0cd9a5434dc949eeeb50ff9f06d305397edd2fd3c3393284b0bd1",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /responses · status 200 · 2.691 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 129 changed as sent

message 137 changed as sent

message 141 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.16, -0.3599, -0.3149, 0.9958, -0.3752, 1.8877, 1.3632, -0.944, -0.9253, -1.7576, 0.9983]\nstate[eef_state]: left_x=0.354 left_y=-0.0997 left_z=0.0613 left_yaw=-0.0031 left_pitch=-0.1075 left_roll=0.0162 left_gripper=0.9958 right_x=0.3901 right_y=0.0019 right_z=0.1168 right_yaw=1.2774 right_pitch=-0.0884 right_roll=-0.2337 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -5.4769, 5.8188, 1.5263, -0.1734, -0.022, -0.0122, -0.4308, -9.7436, 6.2154, 0.4567, -0.7253, 0.0366, -0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1593, -0.3599, -0.3149, 0.9958, -0.2344, 2.022, 1.4887, -1.3674, -0.9295, -2.0087, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0997 left_z=0.0612 left_yaw=-0.003 left_pitch=-0.1082 left_roll=0.0166 left_gripper=0.9958 right_x=0.3444 right_y=0.067 right_z=0.1107 right_yaw=1.5813 right_pitch=-0.0298 right_roll=-0.0095 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -5.1214, 5.8462, 1.5458, -0.188, -0.0513, -0.0122, 0.4855, -9.853, 6.3111, -0.7106, -0.7497, 0.0366, -0.1783]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3599, -0.3145, 0.9958, -0.2344, 2.0357, 1.5097, -1.3838, -0.9295, -2.009, 0.9983]\nstate[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0615 left_yaw=-0.0033 left_pitch=-0.1068 left_roll=0.0162 left_gripper=0.9958 right_x=0.3465 right_y=0.0665 right_z=0.1114 right_yaw=1.5818 right_pitch=-0.0275 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5946, -0.2027, -0.0024, -0.0122, 0.335, -9.8256, 6.653, -0.4322, -0.7985, 0.0855, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16eae35af02a9d0fa8c6f2930343fae777ca70cbbe789f3326e07acc27b7b3cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3e93cc8a2b7de617bc5a0d0094b22a7303eb6969cd5003e5246cfc28df3ec4b6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a606f7b9bda0cd9a5434dc949eeeb50ff9f06d305397edd2fd3c3393284b0bd1",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [],
  "encrypted_content": "gAAAAABqtFAPLKcDA91-NuVbVgWQc2MgJ2j985SUGLilDrPj3hjylX4S8gUgBS03os1HoAwI60H7hfTANgTT59e9VFHICcn8GlzGUlFE7K__r_peWMGS2PahIu1nWbWT052KnTCkuZk-45G0KbCL4STKoj_lvSzEV_8DqBlRNmoMw1lKvP-ZeYmvNcarV5eaLYBClQ18voC6mHWbvJMUnnZMh4gC8H8LO4vFzzcaOhL_haT0w9_DBl3bEk-7f4UjEq80xWWXT0J5C7lvtzGlclrYZD5HCE1nu_qUoUd93TEzqZLPDoeuXl9IwRr5SvnsfWJhSRx0XMYONxbF4VcVWMVesdQ53zceLZoY_oZbyS3ustGF0E4I5lO7qBkO9bdgUg9RUJxJOL2pZhiiJzTZS1yjCOuiunEyKRv_E7iUBKMyg41r3_4WL63tBDFS5V-GOUj1T2gnv61jjUhgDW6EDjk9gVatRFFQDxOkx2o0wJwjIwlWtdymYM9Yz7xx-FQO4SpAqyWCBA5ALnJvSaNWGEuMzCMrizfz4w5qm0Xja-2s22BSy0AeYArO4ciTzIKWdFciCGD1xutjNTCKuy2GJxhjOYk4atdVigTIUfFItEUY9_YvaqTQxDWssbGdQd6FXtEm7SbWXSnAr7dkSJKFO9jpjP2rvS6hrSctYpnrkiNP9flAz_iOiVu6F-EM2rHlhpa-Nk6sLRYlCEQKU2Ust49fzN2Kg3COggJK-ufM0b8eFJytgeOzg1nAWmhw6NBVgSge2lq7FY6iI0X2TixcD9hSEvDYY7eiK5zlTdNXKLZb7p9jkrBASiZzWfze4EphougGkMf87MtUHtJm3hbDnGmoaE9jZMVL34uoKDh2LImhjOQtc9eDUjFhtEnwyHK_oZVMaHIrWtyLi1VD_56a4jIYjJJLrpk4YPDzLI4fWB-03yCkWRGp9mz4vUXni_v7FiIdWyAclpZTlnPC655Fk1IVWJfZhBqR68Bhkfv3-jT0uv3wf1SkTss6ZQddLrcMoChaSy7ZWkDx9FucLJ5Twv-1OPSWSZ0vUZR5BDw-wUI8Rd6sBItOYe6dndXpAqEg1RyTWDfaJ5FpqRvVTPPSPYfTAovUkxfiKRlnKONhmFkDzUr_QKcHRCC_upIMisbYPkism-r85YdHo1adZgNTt1BWPaoTyXyxlLXIP8N03vTpTHIP60rnXxyJWIc6od7AO-6AWOuXeVuTQCcO3zd70gkTSvCmklt03b0z8Q23wNPO1BlT7W0ITelu4NH9bR3KZ8Vag2ExQZ5noA73GupVbAzCahmpLkVLQwiU9gF1NBWoECiUIL88YlOpUx9UHPh0Ts5_7NLKx3AMh9bH-zvfgKw1rSEieKT59G80fpQYFgWOEByXn5zDPBJHr2nKTG3jD8qrdKjbqgjjc1TGRIkGPIVDRID4C2qDI9DsKDkymhAOvEIgz5ldnHCIvekd5Y3ICdfB3Ly24aOIpjO87U-M0IV8QSp04lJPPQ77T9xoj6eH-HRCeGcJS3SZzHNVpHXvuPm9hspaDtcKE9ttXCS_vYnp1_RkL5Gy4gdR20WysAHTa_o4F56x1VeEx4l9SBFK3DtvgiUbA5JVeawKaO1UyQnQKBUsDCUd_xduTwpM1x3NT3rbRRsFLNt4v62FdIcLCWsMm3DqEj8NqGMvz5K0FxgpdF4uVQ_FioHN8XU00aHsLSoBYjpu8yWA0WVe-gTBV8vseqMC-ZXp_83GKugY3nyhwVQd8CDaM5PKntMsjS6Wh0ys6tEYRD7wWThVyw3_LPt8OwiY_MhINGcUkOIogZ34K-Fy6G1PONUDQydQ3cXfEDdzt2oq0jG2uqp0gCNNp5qjzsLtbtlLzzp5hGoHJQpqajVGa91H_74-g2scHb8DqdrtBrQmaMtfBBWhRAX0f9hY3jgKNVLHKwW5x7ivTBlVN6EHg7JkhO9AenvpXgP7slUxfp7ickVFdEvn_-4UbME-1L9VUBasYhdQy2E3bnCCGBAHyxpUc3Z3WqW7UDLvlpVj19uj___KGtFK-Tc0FWiiSkyFpzN0dKbXMhjK9f1qvtLN-gCuag6Kie0dcK3DgvB6lrUhXAGH_RA4u271iVp0epM_jtVDPs875f6kKZNr8j-SbVQ1a5chOcpt6CYO8EmpVXWme4EXH31uXfQqPmi_DhRydPwUqzT5exxyx1DENUaxvbiQ1wXyS5WnDsQ_phywDKX_49Ap0dFgm6q-aUg7AvoeEc-3Gn3i0ihpeI9nZOjWzM8zfWOnaH-Wm6Iygl-Ilhrqe5gDhJnof88kDMqYmZhOJSZKkoZaHMFm9WGsfsmu8rJWVU-4n4CVX-KfQKmLznVUkQLEOLyouAFWyW_C9YGzFL8ttllb4qV7i8SbHkrvDDKn5sEe8Mrw-uy8nVASMjsGHR1vLluoTDbnII7P7Dacc5oOx4si-KboE3Ygfraz7Cy9fvRJCyODOd--uP4lSbpFE63wlxemX4K-HfE_VQLUCSn5A6Fzf7HgyryfX0XtJ9DjXwFrE7-dm6bZMb97RGENrHDA0WUti1B3WCgNCQKcfeV6dZUl9vYzB6kRoI1vWOsLcnyT2tMAz-fAbtEysevz4cX0RGd01LUV6HPKE3fOEG5C_kH7B2DzOe329ZEpupsTRU9cL2aSDr12-xfvWjl_iwMCy6rtSwauRNHP1HJmlSOJsCx3PUHcUd_Q0B_LXg6cVJCcJxP2z913iZsb_ZsQpJTnqMOis5YsuOkjv9QXG_-lQ-X1i-lLrmBctzLe-n-x3F8schkskVo1e-qnwpcsj4qZhMk-t6b0hu_SLsDQgb-Lcb1u493NY5UcL45fT9Xm02ytbSO9YjdkYkMOWNYymTM=",
  "id": "rs_00c34c0f0ed476e9016ab4500b1d3487d0acfdbb952ab2977b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.346,\"right_y\":0.067,\"right_z\":0.04,\"right_yaw\":1.57,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The retraction stalled, but the overhead view shows the rotated gripper already aligned across the bowl’s far rim: the grasp point sits on the rim rather than the center. I’m descending there to attempt the intended radial single-wall pinch.\"}",
  "call_id": "call_8TO1OfU7N6W05HIbxqJt2dkG",
  "id": "fc_00c34c0f0ed476e9016ab4500e1c3887d0b2d0af8e86d56923",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8TO1OfU7N6W05HIbxqJt2dkG",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3599, -0.3149, 0.9958, -0.2348, 2.0357, 1.5101, -1.3838, -0.9295, -2.0087, 0.9984]\nstate[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0031 left_pitch=-0.1072 left_roll=0.0161 left_gripper=0.9958 right_x=0.3467 right_y=0.0663 right_z=0.1114 right_yaw=1.5812 right_pitch=-0.0276 right_roll=-0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -5.3128, 5.8462, 1.5751, -0.2125, -0.0611, -0.0122, 0.1299, -9.8256, 6.653, -0.4713, -0.7595, 0.0708, -0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb55f6158da16537fd37797dede9fdd1c8df6d3f8ccb629fca825f26234ff18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4b7967d5030e87fb09184cc5cc9aadb015ea43dce837999c9abf25f7292688",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78437b2b466b16a2077f58234fa7967a7d02b806f9ebcd4be1b8407f6018e643",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /responses · status 200 · 2.817 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 133 changed as sent

message 141 changed as sent

message 145 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3595, -0.3149, 0.9958, -0.2501, 1.845, 1.2629, -1.2881, -0.9291, -1.9797, 0.9984]\nstate[eef_state]: left_x=0.354 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0034 left_pitch=-0.1073 left_roll=0.0158 left_gripper=0.9958 right_x=0.3043 right_y=0.072 right_z=0.1138 right_yaw=1.5491 right_pitch=-0.037 right_roll=-0.0152 right_gripper=0.9984\nstate[joint_eff]: [-0.1983, -5.3949, 5.8462, 1.5604, -0.1636, -0.0317, -0.0122, 0.3077, -10.7145, 4.9299, -0.2857, -0.7302, -0.0904, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3599, -0.3145, 0.9958, -0.2344, 2.0357, 1.5097, -1.3838, -0.9295, -2.009, 0.9983]\nstate[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0615 left_yaw=-0.0033 left_pitch=-0.1068 left_roll=0.0162 left_gripper=0.9958 right_x=0.3465 right_y=0.0665 right_z=0.1114 right_yaw=1.5818 right_pitch=-0.0275 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5946, -0.2027, -0.0024, -0.0122, 0.335, -9.8256, 6.653, -0.4322, -0.7985, 0.0855, -0.1832]",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3599, -0.3149, 0.9958, -0.2348, 2.0357, 1.5101, -1.3838, -0.9295, -2.0087, 0.9984]\nstate[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0031 left_pitch=-0.1072 left_roll=0.0161 left_gripper=0.9958 right_x=0.3467 right_y=0.0663 right_z=0.1114 right_yaw=1.5812 right_pitch=-0.0276 right_roll=-0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -5.3128, 5.8462, 1.5751, -0.2125, -0.0611, -0.0122, 0.1299, -9.8256, 6.653, -0.4713, -0.7595, 0.0708, -0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0eb55f6158da16537fd37797dede9fdd1c8df6d3f8ccb629fca825f26234ff18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a4b7967d5030e87fb09184cc5cc9aadb015ea43dce837999c9abf25f7292688",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:78437b2b466b16a2077f58234fa7967a7d02b806f9ebcd4be1b8407f6018e643",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFASYHogGr_GRqkDhWbF2f171aboOHxHvHuY86hcLqLv8V4tKi-4TSHenom2Gm4NAP3eePL_a5KuHIg645Ry1j3eMz2G2yDsjMgXcUF7lP7ixQdDyErh2DJegJUtujDzU3hWhTM2LFQBnp_IYrr4lD1LIQXFJwBEUhu69vR-neAUQQpufBzJiQy2vaka56QDJS1knlfz0rt5ij1nCrJaTrPnJAZXoJ_Any9z8IeAh9q0FpN7STrcMNr23eI0WvitCixbwqGSsKPnFnZNuVHVZuJ95ihMd-zW-pOyhtIA9Tq4slcPhC853LV1cfigl7eMt6DVC5S-fvrn4Q1OoKRg3uCCXCKMCZSC4BCJmFUPWd6xgkLQMBDABslqDXSWbK2upcrY0ixTF-UC2QKOnfvL_oZHoRzDMMOffmkrgVZa57mnWTE7WoibPkHDi9MmNzwqeWxQMD9n1FzbMskcX_pAAQOBFSW2V9JPEoGiE2-svYP1w3VjsZyyLcUNPXM4yG5yzQPV4QC4dVnoCtBOQlckGlXnOAc8Y6kSgLHSD_IYNpAH8liZKYRTs8sGBaMZwOXfX1jdsnnZhdZR7B8INnC2cVlkTSF8e3DLYv3zLz2TBtJYfBxTFyex0j_U-44kAzwlLl1oWyNkhmb5GQuI_g_PMr9oPJGcca7nVvYy2V170LCQe5JStTYfcCiQLnqRTCPltcpRDlwnOYOeQAJBINwfZnGos7MqSDk2xoPvT-32AputS8Gt8_D_-_lAA2Mhgs7fKr2vSzGHo54UPtu0PfIJCMyKWUYmbs0DAn7dBwStevXVE3aSrMlhjrC9kjl-xdWqLKclRhqBBgBEt6UGiNmDaYZydt80DmON1jE8-pUYvWMg2j9lrwe5ml3k6D88F82m8x0NwahjfnYyAbnmQjhxgitoKnNFw2zHoWtyetaluXLiucTpeZNkFM9JZdYycXfAIdGng0KCGmZ-50yXCTpiW1vlddyhraBkCiU-E-yIAmzYk7-0u8d66fJgUanbf8ct2fcHYer1cT8dJEOUuI4rs5E-qeQGNO3gmqNcxj6IQ_jnrIPTAqK-vA3UU9Hr6NuAeamuS1vCNYix_i9j2nGbNwF_-0ltiLtP2tFjii7p4I1sJ8WJJCvofswAZPJRw2Gkjnlcb619daxs4Zme5S7FnA7jrae5t8HWRn56eajTH7yN9I7_SBSdtewf2GwINCtQz7DiFSQKlkjfmYllzJ2rg2TyH9R72gPRIyMr9zOevxMPRj_kYy9a1We_Q47MxPt_4JpLwENDXzosgaA1XjFBPAyHRRvY3Qb8TQfgdUgO4wzyMd-7B7u4oQy9GIP16RS-q1RQ3fQhbcic4s3WBgsL2fk6S8t3oGfJCfjvt5rgx109mka6FSHSTmRqa2fvs2_YyyjoiOGkskEu-3lEXyoNRMHKDihJx1-GSW1sW-Td7fF1ozA=",
  "id": "rs_00c34c0f0ed476e9016ab45010cd9087d0a724902081149656",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.346,\"right_y\":0.067,\"right_z\":0.04,\"right_yaw\":1.2,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The vertical move is completely blocked at 90-degree yaw, so repeating it would not help. I’m easing yaw back to 1.2 rad while descending; this keeps the jaw axis mostly radial but should release the wrist singularity.\"}",
  "call_id": "call_ICG47Tm1iXY5oWZ7QLY5Qx05",
  "id": "fc_00c34c0f0ed476e9016ab450115c2c87d0b17bf50e0ce52c76",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ICG47Tm1iXY5oWZ7QLY5Qx05",
  "output": [
    {
      "text": "executing move_to over 5 steps (0.5s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1612, -0.3595, -0.3149, 0.9958, -0.2516, 1.8854, 0.96, -0.6983, -0.9703, -1.5459, 0.9984]\nstate[eef_state]: left_x=0.3542 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1066 left_roll=0.0155 left_gripper=0.9958 right_x=0.3159 right_y=0.073 right_z=0.0339 right_yaw=1.2965 right_pitch=-0.0303 right_roll=0.0921 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -5.4496, 5.9009, 1.6337, -0.188, -0.0415, -0.0122, -0.0889, -9.347, 5.6137, 0.4908, -0.5739, 0.0806, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275ba518c3959903fa5e400b0642d285e84348185d5ac1cb99a7a51eec08acde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bd5ef77a1d92673a5adc5c3a019c1a8fff3b1d7852aa9c619cef8920343214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afde1b049a1fbd21192de6c6976786f7e3af8339b62517af1df10ff25ad9c17e",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /responses · status 200 · 15.27 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 137 changed as sent

message 145 changed as sent

message 149 changed as sent

message 137 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1593, -0.3599, -0.3149, 0.9958, -0.2344, 2.022, 1.4887, -1.3674, -0.9295, -2.0087, 0.9984]\nstate[eef_state]: left_x=0.3539 left_y=-0.0997 left_z=0.0612 left_yaw=-0.003 left_pitch=-0.1082 left_roll=0.0166 left_gripper=0.9958 right_x=0.3444 right_y=0.067 right_z=0.1107 right_yaw=1.5813 right_pitch=-0.0298 right_roll=-0.0095 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -5.1214, 5.8462, 1.5458, -0.188, -0.0513, -0.0122, 0.4855, -9.853, 6.3111, -0.7106, -0.7497, 0.0366, -0.1783]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1604, -0.3599, -0.3149, 0.9958, -0.2348, 2.0357, 1.5101, -1.3838, -0.9295, -2.0087, 0.9984]\nstate[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0614 left_yaw=-0.0031 left_pitch=-0.1072 left_roll=0.0161 left_gripper=0.9958 right_x=0.3467 right_y=0.0663 right_z=0.1114 right_yaw=1.5812 right_pitch=-0.0276 right_roll=-0.001 right_gripper=0.9984\nstate[joint_eff]: [-0.2256, -5.3128, 5.8462, 1.5751, -0.2125, -0.0611, -0.0122, 0.1299, -9.8256, 6.653, -0.4713, -0.7595, 0.0708, -0.1832]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1612, -0.3595, -0.3149, 0.9958, -0.2516, 1.8854, 0.96, -0.6983, -0.9703, -1.5459, 0.9984]\nstate[eef_state]: left_x=0.3542 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1066 left_roll=0.0155 left_gripper=0.9958 right_x=0.3159 right_y=0.073 right_z=0.0339 right_yaw=1.2965 right_pitch=-0.0303 right_roll=0.0921 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -5.4496, 5.9009, 1.6337, -0.188, -0.0415, -0.0122, -0.0889, -9.347, 5.6137, 0.4908, -0.5739, 0.0806, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:275ba518c3959903fa5e400b0642d285e84348185d5ac1cb99a7a51eec08acde",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94bd5ef77a1d92673a5adc5c3a019c1a8fff3b1d7852aa9c619cef8920343214",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:afde1b049a1fbd21192de6c6976786f7e3af8339b62517af1df10ff25ad9c17e",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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{
  "content": [],
  "encrypted_content": "gAAAAABqtFAV33IiG4YyEQd_Yme1BAAWgLRn3YF6E63hsOXCGwy_FBeFcm90r0QOId57WAL_vKW55vCYvLOOR_roHVpupXJBONBcM2xCV_iyC9-bSWrcS9Q5fb4c4QWMd0tgdFLZKu8zP-4g3skdX5t5gTM8vvUpMbP7dUN0GhgvFP2DWdfQJCtgR4duEFgt7miH5O7h0o-uLcWjiJ9kf2Udak5Tx392Qn7Q3L83upA4iAsPmcunh-ORR2XZadZat7FR8ydBFB1s-IXGLi48BTHNKPl6hqoaZy3DoiKdNIsENR0fnIGhXfownke04-MrnTNQz7XimU9xsPIBPMKZTra680Ba2NbSedgnLgQB0zspaCtQ4-vo8TvEniY5DB2F0sAzrW9KUAot-V_9y1LIaaHgvJtUYtqRgOOH9zuyLMsc8JnRz_pbW8w322R_6tvzsLYQGsMdXk2Yh-0lA2A7HOqre_e9wLFqi2nGrDetQu6nm9QRJJtJSyNSR5OlqVzbTyAEZ8vxAyAGVvVyp1p6coeBAsugkM1Gtg7NzmaXZXtOazGrWN1MRisjOppDNFeEb4zMYKuSjjdWim6QZHIMOjzQ89mco2P4hF40mNlU3rbifsYWSg9TQj0LAM_QC2Nro0RlFX69RO3qqvXfYPWj885fT9luBR8McH1RT3Rkxuh9X_A2G17NBnHV5RGwX2uQjuEAWDz7FBqhrKO67pBK5sndrdqrnTA1AN2y5NmuU87sysC6Md4sNEpaLAOLLUbaLFFC25-eqCq3uOgLQt0VsD2iCf8QDtN6Rh1MMMGGbJ0kBG08MEmLthvi5l2ZMupL10eQarzjyAlqn8atF9kWlQbDFvrjXTlRndrVdpFcdyVmBK419GwOvCKo8zLcbrhxiOAqEZ9NkkCjslO_jUucoidVD0zsBC8uiqiFFVwDXSHGb0vVbjyEfHgkqSf7Y1IWqdAi_jyrCjWrtHp-MBk1cTfUUKG8Ms_3wCtAUBAp9Bd5uTnbcRt8OGkUuIXU-BQYc0_NvOptx5SUzWf_lMOMeNYf_R7MoWIQqGqg7qOoH2P0fXnXFVgi9yDtpq9NEBYRKEPkvCveatNRYXk1FwvvLBG0gfqFN7CovmCY_Vni6bvg2htGXfwlBSxTGB0l7xXiNWJKrxdDKXA-sEQvzlb-CTFvUTrT03ZhFYNdS4Eg2MKHA4vL6XhuUWY6cPlsyYR527LxoKu7v2fqJP9yRxtNVHJTCZ5Afnvg0CEANUigtiHOo0CxwyNOjvzUjtcdvOkIFzIgci76_6KtG_pdpaC62rYG6158ICvZSWsbPk2X9wzshkuQmoV5v1YeY2JcEQoJHQpFZXU9ZO7z03CjkA6oEGrRmmCt40DujvttbDgZ449H_gwJT6DfCgSf-0AwfTD_0pcC3lHpOUu058aKZiFv0vOa35jGWpgEnJw0DPHEZc9bOnC_pcahDcaCJs4Wgms8v6z4naD4RpxJ5lZkG1jVeN0MJTS4FHG2gUydk3u3JyrG2hios3hZ4tgG-wVJ5G08AQJ-ykFF6kpOu4OesfdqgKcJ8GlqBvBdskwl20sDhS6LWYfhwBLKeQJvE_MkOjTjAvV3pg3HObHDRMlZjuwUX0jCkDQ3UMVSi61iCdAFdKtR3CypV-LTqNKICcZzaAY-XXD198KQMPWcV-qS2XdSQnhq78vJWDI1P2qhZpMrK64ik9tJhwovN1M=",
  "id": "rs_00c34c0f0ed476e9016ab45013f88487d0823c86a906ddd514",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0.0},\"note\":\"Reducing yaw unlocked the descent to 3.4 cm, and the overhead view now shows the diagonal jaw axis crossing the pink bowl’s near rim with one finger on each side. I’m closing this rim pinch and will immediately test it by lifting.\"}",
  "call_id": "call_3RjhuseBiQEvaHuq5BvZT2q6",
  "id": "fc_00c34c0f0ed476e9016ab45014bfcc87d09cd3c186763df138",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3RjhuseBiQEvaHuq5BvZT2q6",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3595, -0.3149, 0.9958, -0.2508, 1.8778, 0.9436, -0.6846, -0.9615, -1.5455, 0.0094]\nstate[eef_state]: left_x=0.3541 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9958 right_x=0.3132 right_y=0.073 right_z=0.0315 right_yaw=1.2973 right_pitch=-0.0389 right_roll=0.0872 right_gripper=0.0094\nstate[joint_eff]: [-0.1983, -5.2855, 5.8462, 1.5849, -0.1441, -0.022, -0.0122, -0.2393, -7.3504, 5.7504, 0.0855, -0.6032, -0.0024, 0.7155]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d18e8d3c79d82fe47b9d11c2af1e9d50ae4bbdc0e948a394c2fafb32d7dd96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf08c0003af575e0ffbe74d7e954a1cf1c430b9368cb9e382fd762e5601b1a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb2b772985ead31d0666a6a55a244c03f1a6015e5d4455edf1b8477d9bc5436",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /responses · status 200 · 8.785 s
model
gpt-5.6-sol
effort
high
temperature
n/a
tool count
3

message 141 changed as sent

message 149 changed as sent

message 153 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3599, -0.3145, 0.9958, -0.2344, 2.0357, 1.5097, -1.3838, -0.9295, -2.009, 0.9983]\nstate[eef_state]: left_x=0.3541 left_y=-0.0998 left_z=0.0615 left_yaw=-0.0033 left_pitch=-0.1068 left_roll=0.0162 left_gripper=0.9958 right_x=0.3465 right_y=0.0665 right_z=0.1114 right_yaw=1.5818 right_pitch=-0.0275 right_roll=-0.0009 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -5.4359, 5.8325, 1.5946, -0.2027, -0.0024, -0.0122, 0.335, -9.8256, 6.653, -0.4322, -0.7985, 0.0855, -0.1832]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 149 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1612, -0.3595, -0.3149, 0.9958, -0.2516, 1.8854, 0.96, -0.6983, -0.9703, -1.5459, 0.9984]\nstate[eef_state]: left_x=0.3542 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1066 left_roll=0.0155 left_gripper=0.9958 right_x=0.3159 right_y=0.073 right_z=0.0339 right_yaw=1.2965 right_pitch=-0.0303 right_roll=0.0921 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -5.4496, 5.9009, 1.6337, -0.188, -0.0415, -0.0122, -0.0889, -9.347, 5.6137, 0.4908, -0.5739, 0.0806, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3595, -0.3149, 0.9958, -0.2508, 1.8778, 0.9436, -0.6846, -0.9615, -1.5455, 0.0094]\nstate[eef_state]: left_x=0.3541 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9958 right_x=0.3132 right_y=0.073 right_z=0.0315 right_yaw=1.2973 right_pitch=-0.0389 right_roll=0.0872 right_gripper=0.0094\nstate[joint_eff]: [-0.1983, -5.2855, 5.8462, 1.5849, -0.1441, -0.022, -0.0122, -0.2393, -7.3504, 5.7504, 0.0855, -0.6032, -0.0024, 0.7155]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2d18e8d3c79d82fe47b9d11c2af1e9d50ae4bbdc0e948a394c2fafb32d7dd96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf08c0003af575e0ffbe74d7e954a1cf1c430b9368cb9e382fd762e5601b1a11",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cb2b772985ead31d0666a6a55a244c03f1a6015e5d4455edf1b8477d9bc5436",
      "type": "input_image"
    },
    {
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab45017c06087d0a4c9f3e612087270",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab4501d7b4c87d0a8d3664859f53280",
  "summary": [],
  "type": "reasoning"
}
{
  "content": [],
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  "id": "rs_00c34c0f0ed476e9016ab450226b2887d0bfd52f69f86e7cf3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.313,\"right_y\":0.02,\"right_z\":0.032,\"right_yaw\":1.3,\"right_pitch\":0.0,\"right_roll\":0.0,\"right_gripper\":1.0},\"note\":\"The diagonal pinch still closed empty; the overhead view shows the grasp point was about one bowl-wall radius too far left. I’m reopening at the same low height and shifting right onto the clearly visible near-rim segment for one final precise wall grasp.\"}",
  "call_id": "call_O18uP2wetxVLyZMcyrz19DAo",
  "id": "fc_00c34c0f0ed476e9016ab45024894c87d0ad311fa15cb851c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_O18uP2wetxVLyZMcyrz19DAo",
  "output": [
    {
      "text": "executing move_to over 10 steps (1.0s)",
      "type": "input_text"
    }
  ],
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Stack the bowls on the table.\nstate[joint_pos]: [-0.4545, 1.4502, 0.5514, 0.1608, -0.3595, -0.3149, 0.9958, -0.4278, 1.9553, 1.0164, -0.8604, -0.9588, -1.8488, 0.995]\nstate[eef_state]: left_x=0.3541 left_y=-0.0999 left_z=0.0615 left_yaw=-0.0034 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9958 right_x=0.3099 right_y=0.0215 right_z=0.0276 right_yaw=1.2905 right_pitch=-0.022 right_roll=0.0176 right_gripper=0.995\nstate[joint_eff]: [-0.0068, -5.4359, 5.8462, 1.5604, -0.1734, -0.0415, -0.0122, -0.2256, -7.1863, 6.1744, -0.2613, -0.6422, 0.022, -0.1685]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:557edcbb0082b72e589b66a7f5997b5a1bc9667fc6e332615a1731bebe48e6b7",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:98a06b2836a1a2c88ac9f9c37d70ad2bd45e5f1fa936720c951a1d31b81a9454",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b45f9e857e18e0b998ff330bedab3928f2334e89615c2f01d0c3084fd498c227",
      "type": "input_image"
    },
    {
      "prompt_cache_breakpoint": {
        "mode": "explicit"
      },
      "text": "",
      "type": "input_text"
    }
  ],
  "role": "user"
}
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